CObservationStereoImagesFeatures.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/obs/CObservationStereoImagesFeatures.h>

#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/utils/CStream.h>

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

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

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures()
        : cameraLeft(), cameraRight(), rightCameraPose(), cameraPoseOnRobot()
{
}

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures(
        const CMatrixDouble33& iPLeft, const CMatrixDouble33& iPRight,
        const CArrayDouble<5>& dPLeft, const CArrayDouble<5>& dPRight,
        const CPose3DQuat& rCPose, const CPose3DQuat& cPORobot)
{
        cameraLeft.intrinsicParams = iPLeft;
        cameraLeft.dist = dPLeft;

        cameraRight.intrinsicParams = iPRight;
        cameraRight.dist = dPRight;

        rightCameraPose = rCPose;
        cameraPoseOnRobot = cPORobot;
}

CObservationStereoImagesFeatures::CObservationStereoImagesFeatures(
        const TCamera& cLeft, const TCamera& cRight, const CPose3DQuat& rCPose,
        const CPose3DQuat& cPORobot)
{
        cameraLeft = cLeft;
        cameraRight = cRight;

        rightCameraPose = rCPose;
        cameraPoseOnRobot = cPORobot;
}

CObservationStereoImagesFeatures::~CObservationStereoImagesFeatures() {}
void CObservationStereoImagesFeatures::saveFeaturesToTextFile(
        const std::string& filename)
{
        CFileOutputStream file(filename);

        vector<TStereoImageFeatures>::iterator it;
        for (it = theFeatures.begin(); it != theFeatures.end(); ++it)
                file << format(
                        "%u %.2f %.2f %.2f %.2f\n", it->ID, it->pixels.first.x,
                        it->pixels.first.y, it->pixels.second.x, it->pixels.second.y);

        file.close();
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationStereoImagesFeatures::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                // The data
                out << cameraLeft;
                out << cameraRight;
                out << rightCameraPose << cameraPoseOnRobot;
                out << (uint32_t)theFeatures.size();  // Write the number of items
                // within the feature list
                for (unsigned int i = 0; i < theFeatures.size(); ++i)
                {
                        out << theFeatures[i].pixels.first.x
                                << theFeatures[i].pixels.first.y;
                        out << theFeatures[i].pixels.second.x
                                << theFeatures[i].pixels.second.y;
                        out << (uint32_t)theFeatures[i].ID;
                }
                out << sensorLabel << timestamp;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservationStereoImagesFeatures::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        uint32_t nL, nR;
                        in >> cameraLeft;
                        in >> cameraRight;
                        in >> rightCameraPose >> cameraPoseOnRobot;
                        in >> nL;
                        theFeatures.resize(nL);
                        for (unsigned int i = 0; i < theFeatures.size(); ++i)
                        {
                                in >> theFeatures[i].pixels.first.x >>
                                        theFeatures[i].pixels.first.y;
                                in >> theFeatures[i].pixels.second.x >>
                                        theFeatures[i].pixels.second.y;
                                in >> nR;
                                theFeatures[i].ID = (unsigned int)nR;
                        }
                        in >> sensorLabel >> timestamp;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CObservationStereoImagesFeatures::getDescriptionAsText(
        std::ostream& o) const
{
        CObservation::getDescriptionAsText(o);

        o << "Homogeneous matrix for the sensor's 3D pose, relative to robot "
                 "base:\n";
        o << cameraPoseOnRobot.getHomogeneousMatrixVal() << cameraPoseOnRobot
          << endl;

        o << "Homogeneous matrix for the RIGHT camera's 3D pose, relative to LEFT "
                 "camera reference system:\n";
        o << rightCameraPose.getHomogeneousMatrixVal() << rightCameraPose << endl;

        o << "Intrinsic parameters matrix for the LEFT camera:" << endl;
        CMatrixDouble33 aux = cameraLeft.intrinsicParams;
        o << aux.inMatlabFormat() << endl << aux << endl;

        o << "Distortion parameters vector for the LEFT camera:" << endl << "[ ";
        for (unsigned int i = 0; i < 5; ++i) o << cameraLeft.dist[i] << " ";
        o << "]" << endl;

        o << "Intrinsic parameters matrix for the RIGHT camera:" << endl;
        aux = cameraRight.intrinsicParams;
        o << aux.inMatlabFormat() << endl << aux << endl;

        o << "Distortion parameters vector for the RIGHT camera:" << endl << "[ ";
        for (unsigned int i = 0; i < 5; ++i) o << cameraRight.dist[i] << " ";
        o << "]" << endl;

        o << endl
          << format(
                         " Image size: %ux%u pixels\n", (unsigned int)cameraLeft.ncols,
                         (unsigned int)cameraLeft.nrows);
        o << endl
          << format(
                         " Number of features in images: %u\n",
                         (unsigned int)theFeatures.size());
}