CObservation6DFeatures.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/utils/CStream.h>
#include <mrpt/obs/CObservation6DFeatures.h>
#include <mrpt/system/os.h>
#include <mrpt/math/matrix_serialization.h>

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

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

/** Default constructor */
CObservation6DFeatures::CObservation6DFeatures()
        : minSensorDistance(0), maxSensorDistance(1e6f)
{
}

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

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservation6DFeatures::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                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;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservation6DFeatures::readFromStream(
        mrpt::utils::CStream& in, int 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;
        }
}