pose_utils.h

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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 <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/system/datetime.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/io/CFileOutputStream.h>
#include <mrpt/io/CFileInputStream.h>
 
#include <vector>
#include <string>
 
namespace mrpt
{
namespace poses
{
namespace internal
{
inline void getPoseFromString(const std::string& s, mrpt::poses::CPose2D& p)
{
        using namespace std;
        using namespace mrpt::system;
        using namespace mrpt::poses;
 
        p.fromStringRaw(s);
 
}  // end of getPoseFromString
 
/** Set the current object value from a string (e.g.: "x y z qx qy qz qw")
 *
 * Specialization for files in the TUM format
 * \exception std::exception On invalid format
 */
template <bool QUAT_REPR = true, bool TUM_FORMAT = true>
void getPoseFromString(const std::string& s, mrpt::poses::CPose3D& p)
{
        std::vector<std::string> curr_tokens;
        mrpt::system::tokenize(s, " ", curr_tokens);
 
        ASSERTMSG_(
                curr_tokens.size() == 7,
                mrpt::format(
                        "Invalid number of tokens in given string\n"
                        "\tExpected:    7\n"
                        "\tTokens size: %" USIZE_STR "\n",
                        curr_tokens.size()));
 
        mrpt::math::CQuaternionDouble quat;
        quat.r(atof(curr_tokens[6].c_str()));
        quat.x(atof(curr_tokens[3].c_str()));
        quat.y(atof(curr_tokens[4].c_str()));
        quat.z(atof(curr_tokens[5].c_str()));
        double roll, pitch, yaw;
        quat.rpy(roll, pitch, yaw);
 
        p.setFromValues(
                atof(curr_tokens[0].c_str()),  // x
                atof(curr_tokens[1].c_str()),  // y
                atof(curr_tokens[2].c_str()),  // z
                roll, pitch, yaw);
}  // end of fromStringQuat
 
template <>
inline void getPoseFromString</*QUAT_REPR=*/false, /*TUM_FORMAT=*/false>(
        const std::string& s, mrpt::poses::CPose3D& p)
{
        p.fromStringRaw(s);
}  // end of getPoseFromString
 
/**Invalid form. TUM ground truth files are always in Quaternion form. */
template <>
inline void getPoseFromString<false, true>(
        const std::string& s, mrpt::poses::CPose3D& p)
{
        THROW_EXCEPTION("Invalid combination: QUAT_REPR=false, TUM_FORMAT=true");
}
 
/**\brief Specialization for strings in Quaternion form */
template <>
inline void getPoseFromString</*QUAT_REPR=*/true, /*TUM_FORMAT=*/false>(
        const std::string& s, mrpt::poses::CPose3D& p)
{
        mrpt::poses::CPose3DQuat p_quat;
        p_quat.fromStringRaw(s);
        p = mrpt::poses::CPose3D(p_quat);
}  // end of getPoseFromString
 
}  // end of namespace internal
 
/**\name Parsing of textfiles with poses */
/**\{*/
/**\brief Parse the textfile and fill in the corresponding \a poses vector.
 *
 * The file to be parsed is to contain 2D or 3D poses along with their
 * corresponding timestamps, one line for each.
 *
 * The expected format is the following:
 *
 * For 2D Poses: timestamp x y theta (in rad)
 * For 3D Poses in RPY form : x y z yaw pitch roll
 * For 3D Poses in Quaternion form : x y z qw qx qy qz
 * For 3D Poses in Quaternion form [TUM Datasets] : x y z qx qy qz qw
 *
 * The 2D format abides to the groundtruth file format used by the
 * <em>GridMapNavSimul</em> application
 *
 * The TUM format is compatible with the groundtruth format for the
 * TUM RGBD datasets as generated by the * <em>rgbd_dataset2rawlog</em> MRPT
 * tool.
 *
 * \param[in] fname Filename from which the timestamps and poses are read
 * \param[out] poses_vec std::vector which is to contain the 2D poses.
 * \param[out] timestamps std::vector which is to contain the timestamps
 * for the corresponding ground truth poses. Ignore this argument if
 * timestamps are not needed.
 * \param[in] substract_init_offset If true, the filled poses are to start from
 * 0, that means, that if the first found pose is non-zero, it's going to be
 * considered and offset and substracted from all poses in the file.
 *
 * \sa
 * http://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011
 *
 * \ingroup mrpt_base_grp
 */
template <class POSE_T>
void readFileWithPoses(
        const std::string& fname, std::vector<POSE_T>* poses_vec,
        std::vector<mrpt::system::TTimeStamp>* timestamps = NULL,
        bool substract_init_offset = false)
{
        MRPT_START;
 
        using namespace std;
        using namespace mrpt::system;
        using namespace mrpt::poses;
        using namespace internal;
 
        // make sure file exists
        ASSERTMSG_(
                fileExists(fname), format(
                                                           "\nFile %s was not found.\n"
                                                           "Either specify a valid filename or set set the "
                                                           "m_visualize_GT flag to false\n",
                                                           fname.c_str()));
 
        CFileInputStream file_GT(fname);
        ASSERTMSG_(
                file_GT.fileOpenCorrectly(),
                "\nreadGTFileRGBD_TUM: Couldn't openGT file\n");
        ASSERTMSG_(poses_vec, "std::vector<POSE_T>* is not valid.");
 
        string curr_line;
 
        // move to the first non-commented line
        for (size_t i = 0; file_GT.readLine(curr_line); i++)
        {
                if (curr_line.at(0) != '#')
                {
                        break;
                }
        }
 
        // handle the first pose as an offset
        POSE_T pose_offset_opposite;
        if (substract_init_offset)
        {
                POSE_T pose_offset;
                getPoseFromString(
                        std::string(
                                curr_line.begin() + curr_line.find_first_of(" \t") + 1,
                                curr_line.end()),
                        pose_offset);
                pose_offset_opposite = pose_offset.getOppositeScalar();
        }
 
        // parse the file - get timestamp and pose and fill in the vector
        for (; file_GT.readLine(curr_line);)
        {
                // timestamp
                if (timestamps)
                {
                        std::string timestamp_str = std::string(
                                curr_line.begin(),
                                curr_line.begin() + curr_line.find_first_of(" \t"));
                        timestamps->push_back(atof(timestamp_str.c_str()));
                }
 
                POSE_T curr_pose;
                getPoseFromString(
                        std::string(
                                curr_line.begin() + curr_line.find_first_of(" \t") + 1,
                                curr_line.end()),
                        curr_pose);
 
                // scalar substraction of initial offset
                if (substract_init_offset)
                {
                        curr_pose.addComponents(pose_offset_opposite);
                }
 
                // push the newly created pose
                poses_vec->push_back(curr_pose);
        }  // end for loop
 
        file_GT.close();
 
        MRPT_END;
}  // end of readFileWithPoses
}  // namespace poses
}  // namespace mrpt