SensorData.cpp

Go to the documentation of this file.

/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/


#include "rtabmap/core/SensorData.h"
#include "rtabmap/utilite/ULogger.h"
#include <rtabmap/utilite/UMath.h>

namespace rtabmap
{

SensorData::SensorData() :
        _id(0),
        _stamp(0.0),
        _fx(0.0f),
        _fyOrBaseline(0.0f),
        _cx(0.0f),
        _cy(0.0f),
        _localTransform(Transform::getIdentity()),
        _poseRotVariance(1.0f),
        _poseTransVariance(1.0f),
        _laserScanMaxPts(0)
{
}

SensorData::SensorData(const cv::Mat & image,
          int id,
          double stamp,
          const std::vector<unsigned char> & userData) :
        _image(image),
        _id(id),
        _stamp(stamp),
        _fx(0.0f),
        _fyOrBaseline(0.0f),
        _cx(0.0f),
        _cy(0.0f),
        _localTransform(Transform::getIdentity()),
        _poseRotVariance(1.0f),
        _poseTransVariance(1.0f),
        _laserScanMaxPts(0),
        _userData(userData)
{
        UASSERT(image.empty() ||
                        image.type() == CV_8UC1 || // Mono
                        image.type() == CV_8UC3);  // RGB
}

        // Metric constructor
SensorData::SensorData(const cv::Mat & image,
                  const cv::Mat & depthOrRightImage,
                  float fx,
                  float fyOrBaseline,
                  float cx,
                  float cy,
                  const Transform & localTransform,
                  const Transform & pose,
                  float poseRotVariance,
                  float poseTransVariance,
                  int id,
                  double stamp,
                  const std::vector<unsigned char> & userData) :
        _image(image),
        _id(id),
        _stamp(stamp),
        _depthOrRightImage(depthOrRightImage),
        _fx(fx),
        _fyOrBaseline(fyOrBaseline),
        _cx(cx),
        _cy(cy),
        _pose(pose),
        _localTransform(localTransform),
        _poseRotVariance(poseRotVariance),
        _poseTransVariance(poseTransVariance),
        _laserScanMaxPts(0),
        _userData(userData)
{
        UASSERT(image.empty() ||
                        image.type() == CV_8UC1 || // Mono
                        image.type() == CV_8UC3);  // RGB
        UASSERT(depthOrRightImage.empty() ||
                        depthOrRightImage.type() == CV_32FC1 || // Depth in meter
                        depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
                        depthOrRightImage.type() == CV_8U);     // Right stereo image
        UASSERT(!_localTransform.isNull());
        UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}

        // Metric constructor + 2d depth
SensorData::SensorData(const cv::Mat & laserScan,
                  int laserScanMaxPts,
                  const cv::Mat & image,
                  const cv::Mat & depthOrRightImage,
                  float fx,
                  float fyOrBaseline,
                  float cx,
                  float cy,
                  const Transform & localTransform,
                  const Transform & pose,
                  float poseRotVariance,
                  float poseTransVariance,
                  int id,
                  double stamp,
                  const std::vector<unsigned char> & userData) :
        _image(image),
        _id(id),
        _stamp(stamp),
        _depthOrRightImage(depthOrRightImage),
        _laserScan(laserScan),
        _fx(fx),
        _fyOrBaseline(fyOrBaseline),
        _cx(cx),
        _cy(cy),
        _pose(pose),
        _localTransform(localTransform),
        _poseRotVariance(poseRotVariance),
        _poseTransVariance(poseTransVariance),
        _laserScanMaxPts(laserScanMaxPts),
        _userData(userData)
{
        UASSERT(_laserScan.empty() || _laserScan.type() == CV_32FC2);
        UASSERT(image.empty() ||
                        image.type() == CV_8UC1 || // Mono
                        image.type() == CV_8UC3);  // RGB
        UASSERT(depthOrRightImage.empty() ||
                        depthOrRightImage.type() == CV_32FC1 || // Depth in meter
                        depthOrRightImage.type() == CV_16UC1 || // Depth in millimetre
                        depthOrRightImage.type() == CV_8U);     // Right stereo image
        UASSERT(!_localTransform.isNull());
        UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}

bool SensorData::empty() const
{
        return _image.empty();
}

} // namespace rtabmap