SensorData.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      notice, this list of conditions and the following disclaimer.
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      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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

namespace rtabmap
{

// empty constructor
SensorData::SensorData() :
                _id(0),
                _stamp(0.0),
                _laserScanMaxPts(0),
                _laserScanMaxRange(0.0f)
{
}

// Appearance-only constructor
SensorData::SensorData(
                const cv::Mat & image,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(0),
                _laserScanMaxRange(0.0f)
{
        if(image.rows == 1)
        {
                UASSERT(image.type() == CV_8UC1); // Bytes
                _imageCompressed = image;
        }
        else if(!image.empty())
        {
                UASSERT(image.type() == CV_8UC1 || // Mono
                                image.type() == CV_8UC3);  // RGB
                _imageRaw = image;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

// Mono constructor
SensorData::SensorData(
                const cv::Mat & image,
                const CameraModel & cameraModel,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(0),
                _laserScanMaxRange(0.0f),
                _cameraModels(std::vector<CameraModel>(1, cameraModel))
{
        if(image.rows == 1)
        {
                UASSERT(image.type() == CV_8UC1); // Bytes
                _imageCompressed = image;
        }
        else if(!image.empty())
        {
                UASSERT(image.type() == CV_8UC1 || // Mono
                                image.type() == CV_8UC3);  // RGB
                _imageRaw = image;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

// RGB-D constructor
SensorData::SensorData(
                const cv::Mat & rgb,
                const cv::Mat & depth,
                const CameraModel & cameraModel,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(0),
                _laserScanMaxRange(0.0f),
                _cameraModels(std::vector<CameraModel>(1, cameraModel))
{
        if(rgb.rows == 1)
        {
                UASSERT(rgb.type() == CV_8UC1); // Bytes
                _imageCompressed = rgb;
        }
        else if(!rgb.empty())
        {
                UASSERT(rgb.type() == CV_8UC1 || // Mono
                                rgb.type() == CV_8UC3);  // RGB
                _imageRaw = rgb;
        }

        if(depth.rows == 1)
        {
                UASSERT(depth.type() == CV_8UC1); // Bytes
                _depthOrRightCompressed = depth;
        }
        else if(!depth.empty())
        {
                UASSERT(depth.type() == CV_32FC1 || // Depth in meter
                                depth.type() == CV_16UC1); // Depth in millimetre
                _depthOrRightRaw = depth;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

// RGB-D constructor + laser scan
SensorData::SensorData(
                const cv::Mat & laserScan,
                int laserScanMaxPts,
                float laserScanMaxRange,
                const cv::Mat & rgb,
                const cv::Mat & depth,
                const CameraModel & cameraModel,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(laserScanMaxPts),
                _laserScanMaxRange(laserScanMaxRange),
                _cameraModels(std::vector<CameraModel>(1, cameraModel))
{
        if(rgb.rows == 1)
        {
                UASSERT(rgb.type() == CV_8UC1); // Bytes
                _imageCompressed = rgb;
        }
        else if(!rgb.empty())
        {
                UASSERT(rgb.type() == CV_8UC1 || // Mono
                                rgb.type() == CV_8UC3);  // RGB
                _imageRaw = rgb;
        }
        if(depth.rows == 1)
        {
                UASSERT(depth.type() == CV_8UC1); // Bytes
                _depthOrRightCompressed = depth;
        }
        else if(!depth.empty())
        {
                UASSERT(depth.type() == CV_32FC1 || // Depth in meter
                                depth.type() == CV_16UC1); // Depth in millimetre
                _depthOrRightRaw = depth;
        }

        if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(6))
        {
                _laserScanRaw = laserScan;
        }
        else if(!laserScan.empty())
        {
                UASSERT(laserScan.type() == CV_8UC1); // Bytes
                _laserScanCompressed = laserScan;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

// Multi-cameras RGB-D constructor
SensorData::SensorData(
                const cv::Mat & rgb,
                const cv::Mat & depth,
                const std::vector<CameraModel> & cameraModels,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(0),
                _laserScanMaxRange(0.0f),
                _cameraModels(cameraModels)
{
        if(rgb.rows == 1)
        {
                UASSERT(rgb.type() == CV_8UC1); // Bytes
                _imageCompressed = rgb;
        }
        else if(!rgb.empty())
        {
                UASSERT(rgb.type() == CV_8UC1 || // Mono
                                rgb.type() == CV_8UC3);  // RGB
                _imageRaw = rgb;
        }
        if(depth.rows == 1)
        {
                UASSERT(depth.type() == CV_8UC1); // Bytes
                _depthOrRightCompressed = depth;
        }
        else if(!depth.empty())
        {
                UASSERT(depth.type() == CV_32FC1 || // Depth in meter
                                depth.type() == CV_16UC1); // Depth in millimetre
                _depthOrRightRaw = depth;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

// Multi-cameras RGB-D constructor + laser scan
SensorData::SensorData(
                const cv::Mat & laserScan,
                int laserScanMaxPts,
                float laserScanMaxRange,
                const cv::Mat & rgb,
                const cv::Mat & depth,
                const std::vector<CameraModel> & cameraModels,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(laserScanMaxPts),
                _laserScanMaxRange(laserScanMaxRange),
                _cameraModels(cameraModels)
{
        if(rgb.rows == 1)
        {
                UASSERT(rgb.type() == CV_8UC1); // Bytes
                _imageCompressed = rgb;
        }
        else if(!rgb.empty())
        {
                UASSERT(rgb.type() == CV_8UC1 || // Mono
                                rgb.type() == CV_8UC3);  // RGB
                _imageRaw = rgb;
        }
        if(depth.rows == 1)
        {
                UASSERT(depth.type() == CV_8UC1); // Bytes
                _depthOrRightCompressed = depth;
        }
        else if(!depth.empty())
        {
                UASSERT(depth.type() == CV_32FC1 || // Depth in meter
                                depth.type() == CV_16UC1); // Depth in millimetre
                _depthOrRightRaw = depth;
        }

        if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(6))
        {
                _laserScanRaw = laserScan;
        }
        else if(!laserScan.empty())
        {
                UASSERT(laserScan.type() == CV_8UC1); // Bytes
                _laserScanCompressed = laserScan;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

// Stereo constructor
SensorData::SensorData(
                const cv::Mat & left,
                const cv::Mat & right,
                const StereoCameraModel & cameraModel,
                int id,
                double stamp,
                const cv::Mat & userData):
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(0),
                _laserScanMaxRange(0.0f),
                _stereoCameraModel(cameraModel)
{
        if(left.rows == 1)
        {
                UASSERT(left.type() == CV_8UC1); // Bytes
                _imageCompressed = left;
        }
        else if(!left.empty())
        {
                UASSERT(left.type() == CV_8UC1 || // Mono
                                left.type() == CV_8UC3 || // RGB
                                left.type() == CV_16UC1); // IR
                _imageRaw = left;
        }
        if(right.rows == 1)
        {
                UASSERT(right.type() == CV_8UC1); // Bytes
                _depthOrRightCompressed = right;
        }
        else if(!right.empty())
        {
                UASSERT(right.type() == CV_8UC1 || // Mono
                                right.type() == CV_16UC1);  // IR
                _depthOrRightRaw = right;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }

}

// Stereo constructor + 2d laser scan
SensorData::SensorData(
                const cv::Mat & laserScan,
                int laserScanMaxPts,
                float laserScanMaxRange,
                const cv::Mat & left,
                const cv::Mat & right,
                const StereoCameraModel & cameraModel,
                int id,
                double stamp,
                const cv::Mat & userData) :
                _id(id),
                _stamp(stamp),
                _laserScanMaxPts(laserScanMaxPts),
                _laserScanMaxRange(laserScanMaxRange),
                _stereoCameraModel(cameraModel)
{
        if(left.rows == 1)
        {
                UASSERT(left.type() == CV_8UC1); // Bytes
                _imageCompressed = left;
        }
        else if(!left.empty())
        {
                UASSERT(left.type() == CV_8UC1 || // Mono
                                left.type() == CV_8UC3);  // RGB
                _imageRaw = left;
        }
        if(right.rows == 1)
        {
                UASSERT(right.type() == CV_8UC1); // Bytes
                _depthOrRightCompressed = right;
        }
        else if(!right.empty())
        {
                UASSERT(right.type() == CV_8UC1); // Mono
                _depthOrRightRaw = right;
        }

        if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(6))
        {
                _laserScanRaw = laserScan;
        }
        else if(!laserScan.empty())
        {
                UASSERT(laserScan.type() == CV_8UC1); // Bytes
                _laserScanCompressed = laserScan;
        }

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}

void SensorData::setUserDataRaw(const cv::Mat & userDataRaw)
{
        if(!userDataRaw.empty() && (!_userDataCompressed.empty() || !_userDataRaw.empty()))
        {
                UWARN("Cannot write new user data (%d bytes) over existing user "
                          "data (%d bytes, %d compressed). Set user data of %d to null "
                          "before setting a new one.",
                          int(userDataRaw.total()*userDataRaw.elemSize()),
                          int(_userDataRaw.total()*_userDataRaw.elemSize()),
                          _userDataCompressed.cols,
                          this->id());
                return;
        }
        _userDataRaw = userDataRaw;
}

void SensorData::setUserData(const cv::Mat & userData)
{
        if(!userData.empty() && (!_userDataCompressed.empty() || !_userDataRaw.empty()))
        {
                UWARN("Cannot write new user data (%d bytes) over existing user "
                          "data (%d bytes, %d compressed). Set user data of %d to null "
                          "before setting a new one.",
                          int(userData.total()*userData.elemSize()),
                          int(_userDataRaw.total()*_userDataRaw.elemSize()),
                          _userDataCompressed.cols,
                          this->id());
                return;
        }
        _userDataRaw = cv::Mat();
        _userDataCompressed = cv::Mat();

        if(!userData.empty())
        {
                if(userData.type() == CV_8UC1) // Bytes
                {
                        _userDataCompressed = userData; // assume compressed
                }
                else
                {
                        _userDataRaw = userData;
                        _userDataCompressed = compressData2(userData);
                }
        }
}

void SensorData::uncompressData()
{
        cv::Mat tmpA, tmpB, tmpC, tmpD;
        uncompressData(_imageCompressed.empty()?0:&tmpA,
                                _depthOrRightCompressed.empty()?0:&tmpB,
                                _laserScanCompressed.empty()?0:&tmpC,
                                _userDataCompressed.empty()?0:&tmpD);
}

void SensorData::uncompressData(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * laserScanRaw, cv::Mat * userDataRaw)
{
        uncompressDataConst(imageRaw, depthRaw, laserScanRaw, userDataRaw);
        if(imageRaw && !imageRaw->empty() && _imageRaw.empty())
        {
                _imageRaw = *imageRaw;
                //backward compatibility, set image size in camera model if not set
                if(!_imageRaw.empty() && _cameraModels.size())
                {
                        cv::Size size(_imageRaw.cols/_cameraModels.size(), _imageRaw.rows/_cameraModels.size());
                        for(unsigned int i=0; i<_cameraModels.size(); ++i)
                        {
                                if(_cameraModels[i].isValidForProjection() && _cameraModels[i].imageWidth() == 0)
                                {
                                        _cameraModels[i].setImageSize(size);
                                }
                        }
                }
        }
        if(depthRaw && !depthRaw->empty() && _depthOrRightRaw.empty())
        {
                _depthOrRightRaw = *depthRaw;
        }
        if(laserScanRaw && !laserScanRaw->empty() && _laserScanRaw.empty())
        {
                _laserScanRaw = *laserScanRaw;
        }
        if(userDataRaw && !userDataRaw->empty() && _userDataRaw.empty())
        {
                _userDataRaw = *userDataRaw;
        }
}

void SensorData::uncompressDataConst(cv::Mat * imageRaw, cv::Mat * depthRaw, cv::Mat * laserScanRaw, cv::Mat * userDataRaw) const
{
        if(imageRaw)
        {
                *imageRaw = _imageRaw;
        }
        if(depthRaw)
        {
                *depthRaw = _depthOrRightRaw;
        }
        if(laserScanRaw)
        {
                *laserScanRaw = _laserScanRaw;
        }
        if(userDataRaw)
        {
                *userDataRaw = _userDataRaw;
        }
        if( (imageRaw && imageRaw->empty()) ||
                (depthRaw && depthRaw->empty()) ||
                (laserScanRaw && laserScanRaw->empty()) ||
                (userDataRaw && userDataRaw->empty()))
        {
                rtabmap::CompressionThread ctImage(_imageCompressed, true);
                rtabmap::CompressionThread ctDepth(_depthOrRightCompressed, true);
                rtabmap::CompressionThread ctLaserScan(_laserScanCompressed, false);
                rtabmap::CompressionThread ctUserData(_userDataCompressed, false);
                if(imageRaw && imageRaw->empty())
                {
                        ctImage.start();
                }
                if(depthRaw && depthRaw->empty())
                {
                        ctDepth.start();
                }
                if(laserScanRaw && laserScanRaw->empty())
                {
                        ctLaserScan.start();
                }
                if(userDataRaw && userDataRaw->empty())
                {
                        ctUserData.start();
                }
                ctImage.join();
                ctDepth.join();
                ctLaserScan.join();
                ctUserData.join();
                if(imageRaw && imageRaw->empty())
                {
                        *imageRaw = ctImage.getUncompressedData();
                        if(imageRaw->empty())
                        {
                                UWARN("Requested raw image data, but the sensor data (%d) doesn't have image.", this->id());
                        }
                }
                if(depthRaw && depthRaw->empty())
                {
                        *depthRaw = ctDepth.getUncompressedData();
                        if(depthRaw->empty())
                        {
                                UWARN("Requested depth/right image data, but the sensor data (%d) doesn't have depth/right image.", this->id());
                        }
                }
                if(laserScanRaw && laserScanRaw->empty())
                {
                        *laserScanRaw = ctLaserScan.getUncompressedData();

                        if(laserScanRaw->empty())
                        {
                                UWARN("Requested laser scan data, but the sensor data (%d) doesn't have laser scan.", this->id());
                        }
                }
                if(userDataRaw && userDataRaw->empty())
                {
                        *userDataRaw = ctUserData.getUncompressedData();

                        if(userDataRaw->empty())
                        {
                                UWARN("Requested user data, but the sensor data (%d) doesn't have user data.", this->id());
                        }
                }
        }
}

long SensorData::getMemoryUsed() const // Return memory usage in Bytes
{
        return _imageCompressed.total()*_imageCompressed.elemSize() +
                        _imageRaw.total()*_imageRaw.elemSize() +
                        _depthOrRightCompressed.total()*_depthOrRightCompressed.elemSize() +
                        _depthOrRightRaw.total()*_depthOrRightRaw.elemSize() +
                        _userDataCompressed.total()*_userDataCompressed.elemSize() +
                        _userDataRaw.total()*_userDataRaw.elemSize() +
                        _laserScanCompressed.total()*_laserScanCompressed.elemSize() +
                        _laserScanRaw.total()*_laserScanRaw.elemSize();
}

} // namespace rtabmap