SensorData.h

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/*
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;
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*/

#ifndef SENSORDATA_H_
#define SENSORDATA_H_

#include <rtabmap/core/RtabmapExp.h>
#include <rtabmap/core/Transform.h>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

namespace rtabmap
{

class RTABMAP_EXP SensorData
{
public:
        SensorData(); // empty constructor
        SensorData(const cv::Mat & image, int id = 0, double stamp = 0.0, const std::vector<unsigned char> & userData = std::vector<unsigned char>());

        // Metric constructor
        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 = std::vector<unsigned char>());

        // Metric constructor + 2d laser scan
        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 = std::vector<unsigned char>());

        virtual ~SensorData() {}

        bool isValid() const {return !_image.empty();}

        // use isValid() instead
        RTABMAP_DEPRECATED(bool empty() const, "Use !isValid() instead.");

        const cv::Mat & image() const {return _image;}
        int id() const {return _id;}
        void setId(int id) {_id = id;}
        double stamp() const {return _stamp;}
        void setStamp(double stamp) {_stamp = stamp;}

        bool isMetric() const {return !_depthOrRightImage.empty() || _fx != 0.0f || _fyOrBaseline != 0.0f || !_pose.isNull();}
        void setPose(const Transform & pose, float rotVariance, float transVariance) {_pose = pose; _poseRotVariance=rotVariance; _poseTransVariance = transVariance;}
        cv::Mat depth() const {return (_depthOrRightImage.type()==CV_32FC1 || _depthOrRightImage.type()==CV_16UC1)?_depthOrRightImage:cv::Mat();}
        cv::Mat rightImage() const {return _depthOrRightImage.type()==CV_8UC1?_depthOrRightImage:cv::Mat();}
        const cv::Mat & depthOrRightImage() const {return _depthOrRightImage;}
        const cv::Mat & laserScan() const {return _laserScan;}
        int laserScanMaxPts() const {return _laserScanMaxPts;}
        float fx() const {return _fx;}
        float fy() const {return (_depthOrRightImage.type()==CV_8UC1)?0:_fyOrBaseline;}
        float cx() const {return _cx;}
        float cy() const {return _cy;}
        float baseline() const {return _depthOrRightImage.type()==CV_8UC1?_fyOrBaseline:0;}
        float fyOrBaseline() const {return _fyOrBaseline;}
        const Transform & pose() const {return _pose;}
        const Transform & localTransform() const {return _localTransform;}
        float poseRotVariance() const {return _poseRotVariance;}
        float poseTransVariance() const {return _poseTransVariance;}

        void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & descriptors)
        {
                _keypoints = keypoints;
                _descriptors = descriptors;
        }
        const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
        const cv::Mat & descriptors() const {return _descriptors;}

        void setUserData(const std::vector<unsigned char> & data) {_userData = data;}
        const std::vector<unsigned char> & userData() const {return _userData;}

private:
        cv::Mat _image;
        int _id;
        double _stamp;

        // Metric stuff
        cv::Mat _depthOrRightImage;
        cv::Mat _laserScan;
        float _fx;
        float _fyOrBaseline;
        float _cx;
        float _cy;
        Transform _pose;
        Transform _localTransform;
        float _poseRotVariance;
        float _poseTransVariance;
        int _laserScanMaxPts;

        // features
        std::vector<cv::KeyPoint> _keypoints;
        cv::Mat _descriptors;

        // user data
        std::vector<unsigned char> _userData;
};

}


#endif /* SENSORDATA_H_ */