Link.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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#include "rtabmap/core/Link.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/core/Compression.h>

namespace rtabmap {

Link::Link() :
        from_(0),
        to_(0),
        type_(kUndef),
        infMatrix_(cv::Mat::eye(6,6,CV_64FC1))
{
}
Link::Link(int from,
                int to,
                Type type,
                const Transform & transform,
                const cv::Mat & infMatrix,
                const cv::Mat & userData) :
        from_(from),
        to_(to),
        transform_(transform),
        type_(type)
{
        setInfMatrix(infMatrix);

        if(userData.type() == CV_8UC1) // Bytes
        {
                _userDataCompressed = userData; // assume compressed
        }
        else
        {
                _userDataRaw = userData;
        }
}
Link::Link(int from,
                int to,
                Type type,
                const Transform & transform,
                double rotVariance,
                double transVariance,
                const cv::Mat & userData) :
        from_(from),
        to_(to),
        transform_(transform),
        type_(type)
{
        setVariance(rotVariance, transVariance);

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

double Link::rotVariance() const
{
        double min = uMin3(infMatrix_.at<double>(3,3), infMatrix_.at<double>(4,4), infMatrix_.at<double>(5,5));
        UASSERT(min > 0.0);
        return 1.0/min;
}
double Link::transVariance() const
{
        double min = uMin3(infMatrix_.at<double>(0,0), infMatrix_.at<double>(1,1), infMatrix_.at<double>(2,2));
        UASSERT(min > 0.0);
        return 1.0/min;
}

void Link::setInfMatrix(const cv::Mat & infMatrix) {
        UASSERT(infMatrix.cols == 6 && infMatrix.rows == 6 && infMatrix.type() == CV_64FC1);
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(0,0)) && infMatrix.at<double>(0,0)>0, "Transitional information should not be null! (set to 1 if unknown)");
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(1,1)) && infMatrix.at<double>(1,1)>0, "Transitional information should not be null! (set to 1 if unknown)");
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(2,2)) && infMatrix.at<double>(2,2)>0, "Transitional information should not be null! (set to 1 if unknown)");
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(3,3)) && infMatrix.at<double>(3,3)>0, "Rotational information should not be null! (set to 1 if unknown)");
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(4,4)) && infMatrix.at<double>(4,4)>0, "Rotational information should not be null! (set to 1 if unknown)");
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(5,5)) && infMatrix.at<double>(5,5)>0, "Rotational information should not be null! (set to 1 if unknown)");
        infMatrix_ = infMatrix;
}
void Link::setVariance(double rotVariance, double transVariance) {
        UASSERT(uIsFinite(rotVariance) && rotVariance>0);
        UASSERT(uIsFinite(transVariance) && transVariance>0);
        infMatrix_ = cv::Mat::eye(6,6,CV_64FC1);
        infMatrix_.at<double>(0,0) = 1.0/transVariance;
        infMatrix_.at<double>(1,1) = 1.0/transVariance;
        infMatrix_.at<double>(2,2) = 1.0/transVariance;
        infMatrix_.at<double>(3,3) = 1.0/rotVariance;
        infMatrix_.at<double>(4,4) = 1.0/rotVariance;
        infMatrix_.at<double>(5,5) = 1.0/rotVariance;
}

void Link::setUserDataRaw(const cv::Mat & userDataRaw)
{
        if(!_userDataRaw.empty())
        {
                UWARN("Writing new user data over existing user data. This may result in data loss.");
        }
        _userDataRaw = userDataRaw;
}

void Link::setUserData(const cv::Mat & userData)
{
        if(!userData.empty() && (!_userDataCompressed.empty() || !_userDataRaw.empty()))
        {
                UWARN("Writing new user data over existing user data. This may result in data loss.");
        }
        _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 Link::uncompressUserData()
{
        cv::Mat dataRaw = uncompressUserDataConst();
        if(!dataRaw.empty() && _userDataRaw.empty())
        {
                _userDataRaw = dataRaw;
        }
}

cv::Mat Link::uncompressUserDataConst() const
{
        if(!_userDataRaw.empty())
        {
                return _userDataRaw;
        }
        return uncompressData(_userDataCompressed);
}

Link Link::merge(const Link & link, Type outputType) const
{
        UASSERT(to_ == link.from());
        UASSERT(outputType != Link::kUndef);
        UASSERT((link.transform().isNull() && transform_.isNull()) || (!link.transform().isNull() && !transform_.isNull()));
        UASSERT(infMatrix_.cols == 6 && infMatrix_.rows == 6 && infMatrix_.type() == CV_64FC1);
        UASSERT(link.infMatrix().cols == 6 && link.infMatrix().rows == 6 && link.infMatrix().type() == CV_64FC1);
        return Link(
                        from_,
                        link.to(),
                        outputType,
                        transform_.isNull()?Transform():transform_ * link.transform(), // FIXME, should be inf1^-1(inf1*t1 + inf2*t2)
                        transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):infMatrix_ + link.infMatrix());
}

Link Link::inverse() const
{
        return Link(
                        to_,
                        from_,
                        type_,
                        transform_.isNull()?Transform():transform_.inverse(),
                        transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):infMatrix_);
}

}