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);
}