CObservation6DFeatures.cpp

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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: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/math/matrix_serialization.h>
#include <mrpt/obs/CObservation6DFeatures.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>

using namespace mrpt::obs;
using namespace mrpt::poses;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservation6DFeatures, CObservation, mrpt::obs)

/** Default constructor */
CObservation6DFeatures::CObservation6DFeatures()

    = default;

CObservation6DFeatures::TMeasurement::TMeasurement() : id(INVALID_LANDMARK_ID)
{
}

uint8_t CObservation6DFeatures::serializeGetVersion() const { return 0; }
void CObservation6DFeatures::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << minSensorDistance << maxSensorDistance << sensorPose;

    const uint32_t n = sensedFeatures.size();
    out << n;
    for (uint32_t i = 0; i < n; i++)
    {
        const TMeasurement& m = sensedFeatures[i];
        out << m.pose << m.id << m.inf_matrix;
    }

    out << sensorLabel << timestamp;
}

void CObservation6DFeatures::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> minSensorDistance >> maxSensorDistance >> sensorPose;

            uint32_t n;
            in >> n;
            sensedFeatures.clear();
            sensedFeatures.resize(n);
            for (uint32_t i = 0; i < n; i++)
            {
                TMeasurement& m = sensedFeatures[i];
                in >> m.pose >> m.id >> m.inf_matrix;
            }

            in >> sensorLabel >> timestamp;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CObservation6DFeatures::getSensorPose(CPose3D& out_sensorPose) const
{
    out_sensorPose = sensorPose;
}

void CObservation6DFeatures::setSensorPose(const CPose3D& newSensorPose)
{
    sensorPose = newSensorPose;
}

void CObservation6DFeatures::getDescriptionAsText(std::ostream& o) const
{
    using namespace std;
    CObservation::getDescriptionAsText(o);

    o << "Sensor pose: " << sensorPose << endl;
    o << "Min range  : " << minSensorDistance << endl;
    o << "Max range  : " << maxSensorDistance << endl << endl;

    o << "Observation count : " << sensedFeatures.size() << endl << endl;

    for (size_t k = 0; k < sensedFeatures.size(); k++)
    {
        const CObservation6DFeatures::TMeasurement& m = sensedFeatures[k];
        o << "#" << k << ": ID=" << m.id << "; value=" << m.pose
          << "; inf=" << m.inf_matrix.inMatlabFormat() << endl;
    }
}