CObservationRGBD360.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/CObservationRGBD360.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/system/CTimeLogger.h>

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

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservationRGBD360, CObservation, mrpt::obs)

/*---------------------------------------------------------------
                            Constructor
 ---------------------------------------------------------------*/
CObservationRGBD360::CObservationRGBD360()
    : m_points3D_external_stored(false),
      m_rangeImage_external_stored(false),
      //    hasPoints3D(false),
      hasRangeImage(false),
      //    range_is_depth(true),
      hasIntensityImage(false),
      //    hasConfidenceImage(false),
      //    cameraParams(),
      maxRange(10.0f),
      sensorPose(),
      stdError(0.01f)
{
}

/*---------------------------------------------------------------
                            Destructor
 ---------------------------------------------------------------*/

CObservationRGBD360::~CObservationRGBD360()
{
#ifdef COBS3DRANGE_USE_MEMPOOL
    mempool_donate_xyz_buffers(*this);
    mempool_donate_range_matrix(*this);
#endif
}

uint8_t CObservationRGBD360::serializeGetVersion() const { return 0; }
void CObservationRGBD360::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The data
    out << maxRange << sensorPose;

    //      out << hasPoints3D;
    //      if (hasPoints3D)
    //      {
    //          uint32_t N = points3D_x.size();
    //          out << N;
    //          if (N)
    //          {
    //              out.WriteBufferFixEndianness( &points3D_x[0], N );
    //              out.WriteBufferFixEndianness( &points3D_y[0], N );
    //              out.WriteBufferFixEndianness( &points3D_z[0], N );
    //          }
    //      }
    //
    out << hasRangeImage;
    if (hasRangeImage)
        for (unsigned i = 0; i < NUM_SENSORS; i++) out << rangeImages[i];
    out << hasIntensityImage;
    if (hasIntensityImage)
        for (unsigned i = 0; i < NUM_SENSORS; i++) out << intensityImages[i];
    //      out << hasConfidenceImage; if (hasConfidenceImage) out <<
    // confidenceImage;
    for (unsigned i = 0; i < NUM_SENSORS; i++) out << timestamps[i];
    //
    out << stdError;
    out << timestamp;
    out << sensorLabel;

    out << m_points3D_external_stored << m_points3D_external_file;
    out << m_rangeImage_external_stored << m_rangeImage_external_file;
}

void CObservationRGBD360::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> maxRange >> sensorPose;
            in >> hasRangeImage;
            if (hasRangeImage)
                for (unsigned i = 0; i < NUM_SENSORS; i++)
                {
#ifdef COBS3DRANGE_USE_MEMPOOL
                    // We should call "rangeImage_setSize()" to exploit the
                    // mempool:
                    this->rangeImage_setSize(240, 320, i);
#endif
                    in >> rangeImages[i];
                }

            in >> hasIntensityImage;
            if (hasIntensityImage)
                for (unsigned i = 0; i < NUM_SENSORS; i++)
                    in >> intensityImages[i];

            //      in >> hasConfidenceImage;
            //      if (hasConfidenceImage)
            //        in >> confidenceImage;

            //      in >> cameraParams;

            for (unsigned i = 0; i < NUM_SENSORS; i++) in >> timestamps[i];
            in >> stdError;
            in >> timestamp;
            in >> sensorLabel;

            in >> m_points3D_external_stored >> m_points3D_external_file;
            in >> m_rangeImage_external_stored >> m_rangeImage_external_file;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

// Similar to calling "rangeImage.setSize(H,W)" but this method provides memory
// pooling to speed-up the memory allocation.
void CObservationRGBD360::rangeImage_setSize(
    const int H, const int W, const unsigned sensor_id)
{
#ifdef COBS3DRANGE_USE_MEMPOOL
    // Request memory from the memory pool:
    TMyRangesMemPool* pool = TMyRangesMemPool::getInstance();
    if (pool)
    {
        CObservationRGBD360_Ranges_MemPoolParams mem_params;
        mem_params.H = H;
        mem_params.W = W;

        CObservationRGBD360_Ranges_MemPoolData* mem_block =
            pool->request_memory(mem_params);

        if (mem_block)
        {  // Take the memory via swaps:
            rangeImage.swap(mem_block->rangeImage);
            delete mem_block;
            return;
        }
    }
// otherwise, continue with the normal method:
#endif
    // Fall-back to normal method:
    rangeImages[sensor_id].setSize(H, W);
}

void CObservationRGBD360::getDescriptionAsText(std::ostream& o) const
{
    CObservation::getDescriptionAsText(o);
}