pose_utils.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          https://www.mrpt.org/                            |
   |                                                                           |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file        |
   | See: https://www.mrpt.org/Authors - All rights reserved.                  |
   | Released under BSD License. See details in https://www.mrpt.org/License   |
   +---------------------------------------------------------------------------+
   */

#include <mrpt/core/exceptions.h>
#include <mrpt/io/CFileInputStream.h>
#include <mrpt/io/CFileOutputStream.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/system/datetime.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>
#include <mrpt/system/string_utils.h>

#include <string>
#include <vector>

namespace mrpt::poses::internal
{
inline void getPoseFromString(const std::string& s, mrpt::poses::CPose2D& p)
{
    using namespace std;
    using namespace mrpt::system;
    using namespace mrpt::poses;

    p.fromStringRaw(s);

}  // end of getPoseFromString

/** Set the current object value from a string (e.g.: "x y z qx qy qz qw")
 *
 * Specialization for files in the TUM format
 * \exception std::exception On invalid format
 */
template <bool QUAT_REPR = true, bool TUM_FORMAT = true>
void getPoseFromString(const std::string& s, mrpt::poses::CPose3D& p)
{
    std::vector<std::string> curr_tokens;
    mrpt::system::tokenize(s, " ", curr_tokens);

    ASSERTMSG_(
        curr_tokens.size() == 7,
        mrpt::format(
            "Invalid number of tokens in given string\n"
            "\tExpected:    7\n"
            "\tTokens size: %" USIZE_STR "\n",
            curr_tokens.size()));

    mrpt::math::CQuaternionDouble quat;
    quat.r(atof(curr_tokens[6].c_str()));
    quat.x(atof(curr_tokens[3].c_str()));
    quat.y(atof(curr_tokens[4].c_str()));
    quat.z(atof(curr_tokens[5].c_str()));
    double roll, pitch, yaw;
    quat.rpy(roll, pitch, yaw);

    p.setFromValues(
        atof(curr_tokens[0].c_str()),  // x
        atof(curr_tokens[1].c_str()),  // y
        atof(curr_tokens[2].c_str()),  // z
        roll, pitch, yaw);
}  // end of fromStringQuat

template <>
inline void getPoseFromString</*QUAT_REPR=*/false, /*TUM_FORMAT=*/false>(
    const std::string& s, mrpt::poses::CPose3D& p)
{
    p.fromStringRaw(s);
}  // end of getPoseFromString

/**Invalid form. TUM ground truth files are always in Quaternion form. */
template <>
inline void getPoseFromString<false, true>(
    const std::string& s, mrpt::poses::CPose3D& p)
{
    THROW_EXCEPTION("Invalid combination: QUAT_REPR=false, TUM_FORMAT=true");
}

/**\brief Specialization for strings in Quaternion form */
template <>
inline void getPoseFromString</*QUAT_REPR=*/true, /*TUM_FORMAT=*/false>(
    const std::string& s, mrpt::poses::CPose3D& p)
{
    mrpt::poses::CPose3DQuat p_quat;
    p_quat.fromStringRaw(s);
    p = mrpt::poses::CPose3D(p_quat);
}  // end of getPoseFromString

}  // namespace mrpt::poses::internal

/**\name Parsing of textfiles with poses */
/**\{*/
/**\brief Parse the textfile and fill in the corresponding \a poses vector.
 *
 * The file to be parsed is to contain 2D or 3D poses along with their
 * corresponding timestamps, one line for each.
 *
 * The expected format is the following:
 *
 * For 2D Poses: timestamp x y theta (in rad)
 * For 3D Poses in RPY form : x y z yaw pitch roll
 * For 3D Poses in Quaternion form : x y z qw qx qy qz
 * For 3D Poses in Quaternion form [TUM Datasets] : x y z qx qy qz qw
 *
 * The 2D format abides to the groundtruth file format used by the
 * <em>GridMapNavSimul</em> application
 *
 * The TUM format is compatible with the groundtruth format for the
 * TUM RGBD datasets as generated by the * <em>rgbd_dataset2rawlog</em> MRPT
 * tool.
 *
 * \param[in] fname Filename from which the timestamps and poses are read
 * \param[out] poses_vec std::vector which is to contain the 2D poses.
 * \param[out] timestamps std::vector which is to contain the timestamps
 * for the corresponding ground truth poses. Ignore this argument if
 * timestamps are not needed.
 * \param[in] substract_init_offset If true, the filled poses are to start from
 * 0, that means, that if the first found pose is non-zero, it's going to be
 * considered and offset and substracted from all poses in the file.
 *
 * \sa
 * https://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011
 *
 * \ingroup mrpt_base_grp
 */
template <class POSE_T>
void readFileWithPoses(
    const std::string& fname, std::vector<POSE_T>* poses_vec,
    std::vector<mrpt::system::TTimeStamp>* timestamps = NULL,
    bool substract_init_offset = false)
{
    MRPT_START

    using namespace std;
    using namespace mrpt::system;
    using namespace mrpt::poses;
    using namespace internal;

    // make sure file exists
    ASSERTMSG_(
        fileExists(fname), format(
                               "\nFile %s was not found.\n"
                               "Either specify a valid filename or set set the "
                               "m_visualize_GT flag to false\n",
                               fname.c_str()));

    CFileInputStream file_GT(fname);
    ASSERTMSG_(
        file_GT.fileOpenCorrectly(),
        "\nreadGTFileRGBD_TUM: Couldn't openGT file\n");
    ASSERTMSG_(poses_vec, "std::vector<POSE_T>* is not valid.");

    string curr_line;

    // move to the first non-commented line
    for (size_t i = 0; file_GT.readLine(curr_line); i++)
    {
        if (curr_line.at(0) != '#')
        {
            break;
        }
    }

    // handle the first pose as an offset
    POSE_T pose_offset_opposite;
    if (substract_init_offset)
    {
        POSE_T pose_offset;
        getPoseFromString(
            std::string(
                curr_line.begin() + curr_line.find_first_of(" \t") + 1,
                curr_line.end()),
            pose_offset);
        pose_offset_opposite = pose_offset.getOppositeScalar();
    }

    // parse the file - get timestamp and pose and fill in the vector
    for (; file_GT.readLine(curr_line);)
    {
        // timestamp
        if (timestamps)
        {
            std::string timestamp_str = std::string(
                curr_line.begin(),
                curr_line.begin() + curr_line.find_first_of(" \t"));
            timestamps->push_back(atof(timestamp_str.c_str()));
        }

        POSE_T curr_pose;
        getPoseFromString(
            std::string(
                curr_line.begin() + curr_line.find_first_of(" \t") + 1,
                curr_line.end()),
            curr_pose);

        // scalar substraction of initial offset
        if (substract_init_offset)
        {
            curr_pose.addComponents(pose_offset_opposite);
        }

        // push the newly created pose
        poses_vec->push_back(curr_pose);
    }  // end for loop

    file_GT.close();

    MRPT_END
}