TStereoCamera.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 "img-precomp.h"  // Precompiled headers

#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/img/TStereoCamera.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::img;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(TStereoCamera, CSerializable, mrpt::img)

/**  Save as a config block:
 */
void TStereoCamera::saveToConfigFile(
    const std::string& section, mrpt::config::CConfigFileBase& cfg) const
{
    // [<SECTION>_LEFT]
    //   ...
    // [<SECTION>_RIGHT]
    //   ...
    // [<SECTION>_LEFT2RIGHT_POSE]
    //  pose_quaternion = [x y z qr qx qy qz]

    leftCamera.saveToConfigFile(section + string("_LEFT"), cfg);
    rightCamera.saveToConfigFile(section + string("_RIGHT"), cfg);

    cfg.write(
        section + string("_LEFT2RIGHT_POSE"), "pose_quaternion",
        rightCameraPose.asString());
}

/**  Load all the params from a config source, in the format described in
 * saveToConfigFile()
 */
void TStereoCamera::loadFromConfigFile(
    const std::string& section, const mrpt::config::CConfigFileBase& cfg)
{
    // [<SECTION>_LEFT]
    //   ...
    // [<SECTION>_RIGHT]
    //   ...
    // [<SECTION>_LEFT2RIGHT_POSE]
    //  pose_quaternion = [x y z qr qx qy qz]

    leftCamera.loadFromConfigFile(section + string("_LEFT"), cfg);
    rightCamera.loadFromConfigFile(section + string("_RIGHT"), cfg);
    rightCameraPose.fromString(cfg.read_string(
        section + string("_LEFT2RIGHT_POSE"), "pose_quaternion", ""));
}

uint8_t TStereoCamera::serializeGetVersion() const { return 2; }
void TStereoCamera::serializeTo(mrpt::serialization::CArchive& out) const
{
    // v1->v2: rightCameraPose changed from mrpt::poses::CPose3DQuat to
    // mrpt::math::TPose3DQuat
    out << leftCamera << rightCamera << rightCameraPose;
}
void TStereoCamera::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            if (version == 0)
            {
                uint8_t _model;
                in >> _model;  // unused now
            }
            if (version == 1)
            {
                // Emulate reading a CPose3DQuat object:
                THROW_EXCEPTION(
                    "backwards compatibility de-serialization not implemented "
                    "yet!");
            }
            in >> leftCamera >> rightCamera >> rightCameraPose;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    }
}

std::string TStereoCamera::dumpAsText() const
{
    mrpt::config::CConfigFileMemory cfg;
    saveToConfigFile("", cfg);
    return cfg.getContent();
}