AlignUtils.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_EVAL_ALIGNUTILS_H
#define OV_EVAL_ALIGNUTILS_H

#include <Eigen/Eigen>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>

#include "utils/colors.h"
#include "utils/print.h"
#include "utils/quat_ops.h"

namespace ov_eval {

class AlignUtils {

public:
  static inline double get_best_yaw(const Eigen::Matrix<double, 3, 3> &C) {
    double A = C(0, 1) - C(1, 0);
    double B = C(0, 0) + C(1, 1);
    // return M_PI_2 - atan2(B, A);
    return atan2(A, B);
  }

  static inline Eigen::Matrix<double, 3, 1> get_mean(const std::vector<Eigen::Matrix<double, 3, 1>> &data) {
    Eigen::Matrix<double, 3, 1> mean = Eigen::Matrix<double, 3, 1>::Zero();
    for (size_t i = 0; i < data.size(); i++) {
      mean.noalias() += data[i];
    }
    mean /= data.size();
    return mean;
  }

  static void align_umeyama(const std::vector<Eigen::Matrix<double, 3, 1>> &data, const std::vector<Eigen::Matrix<double, 3, 1>> &model,
                            Eigen::Matrix<double, 3, 3> &R, Eigen::Matrix<double, 3, 1> &t, double &s, bool known_scale, bool yaw_only);

  static void perform_association(double offset, double max_difference, std::vector<double> &est_times, std::vector<double> &gt_times,
                                  std::vector<Eigen::Matrix<double, 7, 1>> &est_poses, std::vector<Eigen::Matrix<double, 7, 1>> &gt_poses);

  static void perform_association(double offset, double max_difference, std::vector<double> &est_times, std::vector<double> &gt_times,
                                  std::vector<Eigen::Matrix<double, 7, 1>> &est_poses, std::vector<Eigen::Matrix<double, 7, 1>> &gt_poses,
                                  std::vector<Eigen::Matrix3d> &est_covori, std::vector<Eigen::Matrix3d> &est_covpos,
                                  std::vector<Eigen::Matrix3d> &gt_covori, std::vector<Eigen::Matrix3d> &gt_covpos);
};

} // namespace ov_eval

#endif // OV_EVAL_ALIGNUTILS_H