Link.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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    * Redistributions in binary form must reproduce the above copyright
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      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/Link.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Compression.h>
 
namespace rtabmap {
 
std::string Link::typeName(Type type)
{
        if(type == Link::kNeighbor)
                return "Neighbor";
        if(type == Link::kGlobalClosure)
                return "GlobalClosure";
        if(type == Link::kLocalSpaceClosure)
                return "LocalSpaceClosure";
        if(type == Link::kLocalTimeClosure)
                return "LocalTimeClosure";
        if(type == Link::kUserClosure)
                return "UserClosure";
        if(type == Link::kVirtualClosure)
                return "VirtualClosure";
        if(type == Link::kNeighborMerged)
                return "NeighborMerged";
        if(type == Link::kPosePrior)
                return "PosePrior";
        if(type == Link::kLandmark)
                return "Landmark";
        if(type == Link::kGravity)
                return "Gravity";
        return "Undefined";
}
 
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;
        _userDataCompressed = compressData2(_userDataRaw);
        }
}
 
double Link::rotVariance(bool minimum) const
{
        double value;
        if(minimum)
        {
                value = uMax3(infMatrix_.at<double>(3,3), infMatrix_.at<double>(4,4), infMatrix_.at<double>(5,5));
        }
        else
        {
                value = uMin3(
                                infMatrix_.at<double>(3,3) <= 0.0001?9999999.0:infMatrix_.at<double>(3,3),
                                infMatrix_.at<double>(4,4) <= 0.0001?9999999.0:infMatrix_.at<double>(4,4),
                                infMatrix_.at<double>(5,5) <= 0.0001?9999999.0:infMatrix_.at<double>(5,5));
                if(value == 9999999.0)
                {
                        value = 0.0001;
                }
        }
        UASSERT(value > 0.0);
        return 1.0/value;
}
double Link::transVariance(bool minimum) const
{
        double value;
        if(minimum)
        {
                value = uMax3(infMatrix_.at<double>(0,0), infMatrix_.at<double>(1,1), infMatrix_.at<double>(2,2));
        }
        else
        {
                value = uMin3(
                                infMatrix_.at<double>(0,0) <= 0.0001?9999999.0:infMatrix_.at<double>(0,0),
                                infMatrix_.at<double>(1,1) <= 0.0001?9999999.0:infMatrix_.at<double>(1,1),
                                infMatrix_.at<double>(2,2) <= 0.0001?9999999.0:infMatrix_.at<double>(2,2));
                if(value == 9999999.0)
                {
                        value = 0.0001;
                }
        }
        UASSERT(value > 0.0);
        return 1.0/value;
}
 
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, uFormat("Linear information X should not be null! Value=%f (set to 1 if unknown or <=1/9999 to be ignored in some computations).", infMatrix.at<double>(0,0)).c_str());
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(1,1)) && infMatrix.at<double>(1,1)>0, uFormat("Linear information Y should not be null! Value=%f (set to 1 if unknown or <=1/9999 to be ignored in some computations).", infMatrix.at<double>(1,1)).c_str());
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(2,2)) && infMatrix.at<double>(2,2)>0, uFormat("Linear information Z should not be null! Value=%f (set to 1 if unknown or <=1/9999 to be ignored in some computations).", infMatrix.at<double>(2,2)).c_str());
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(3,3)) && infMatrix.at<double>(3,3)>0, uFormat("Angular information roll should not be null! Value=%f (set to 1 if unknown or <=1/9999 to be ignored in some computations).", infMatrix.at<double>(3,3)).c_str());
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(4,4)) && infMatrix.at<double>(4,4)>0, uFormat("Angular information pitch should not be null! Value=%f (set to 1 if unknown or <=1/9999 to be ignored in some computations).", infMatrix.at<double>(4,4)).c_str());
        UASSERT_MSG(uIsFinite(infMatrix.at<double>(5,5)) && infMatrix.at<double>(5,5)>0, uFormat("Angular information yaw should not be null! Value=%f (set to 1 if unknown or <=1/9999 to be ignored in some computations).", infMatrix.at<double>(5,5)).c_str());
        infMatrix_ = infMatrix;
}
 
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_MSG(to_ == link.from(), uFormat("merging this=%d->%d to link=%d->%d", from_, to_, link.from(), link.to()).c_str());
        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);
        if(outputType == kNeighborMerged)
        {
                return Link(
                        from_,
                        link.to(),
                        outputType,
                        transform_.isNull()?Transform():transform_ * link.transform(),
                        transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.inv() + link.infMatrix().inv()).inv());
        }
        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_.at<double>(0,0)<link.infMatrix().at<double>(0,0)?infMatrix_:link.infMatrix()));
                        //transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.inv() + link.infMatrix().inv()).inv());
}
 
Link Link::inverse() const
{
        return Link(
                        to_,
                        from_,
                        type_,
                        transform_.isNull()?Transform():transform_.inverse(),
                        transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):infMatrix_);
}
 
}