Transform.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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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/Transform.h>
 
#include <pcl/common/eigen.h>
#include <pcl/common/common.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <iomanip>
 
namespace rtabmap {
 
Transform::Transform() : data_(cv::Mat::zeros(3,4,CV_32FC1))
{
}
 
// rotation matrix r## and origin o##
Transform::Transform(
                float r11, float r12, float r13, float o14,
                float r21, float r22, float r23, float o24,
                float r31, float r32, float r33, float o34)
{
        data_ = (cv::Mat_<float>(3,4) <<
                        r11, r12, r13, o14,
                        r21, r22, r23, o24,
                        r31, r32, r33, o34);
}
 
Transform::Transform(const cv::Mat & transformationMatrix)
{
        UASSERT(transformationMatrix.cols == 4 &&
                        transformationMatrix.rows == 3 &&
                        (transformationMatrix.type() == CV_32FC1 || transformationMatrix.type() == CV_64FC1));
        if(transformationMatrix.type() == CV_32FC1)
        {
                data_ = transformationMatrix;
        }
        else
        {
                transformationMatrix.convertTo(data_, CV_32F);
        }
}
 
Transform::Transform(float x, float y, float z, float roll, float pitch, float yaw)
{
        Eigen::Affine3f t = pcl::getTransformation (x, y, z, roll, pitch, yaw);
        *this = fromEigen3f(t);
}
 
Transform::Transform(float x, float y, float z, float qx, float qy, float qz, float qw) :
                data_(cv::Mat::zeros(3,4,CV_32FC1))
{
        Eigen::Matrix3f rotation = Eigen::Quaternionf(qw, qx, qy, qz).normalized().toRotationMatrix();
        data()[0] = rotation(0,0);
        data()[1] = rotation(0,1);
        data()[2] = rotation(0,2);
        data()[3] = x;
        data()[4] = rotation(1,0);
        data()[5] = rotation(1,1);
        data()[6] = rotation(1,2);
        data()[7] = y;
        data()[8] = rotation(2,0);
        data()[9] = rotation(2,1);
        data()[10] = rotation(2,2);
        data()[11] = z;
}
 
Transform::Transform(float x, float y, float theta)
{
        Eigen::Affine3f t = pcl::getTransformation (x, y, 0, 0, 0, theta);
        *this = fromEigen3f(t);
}
 
Transform Transform::clone() const
{
        return Transform(data_.clone());
}
 
bool Transform::isNull() const
{
        return (data_.empty() ||
                        (data()[0] == 0.0f &&
                        data()[1] == 0.0f &&
                        data()[2] == 0.0f &&
                        data()[3] == 0.0f &&
                        data()[4] == 0.0f &&
                        data()[5] == 0.0f &&
                        data()[6] == 0.0f &&
                        data()[7] == 0.0f &&
                        data()[8] == 0.0f &&
                        data()[9] == 0.0f &&
                        data()[10] == 0.0f &&
                        data()[11] == 0.0f) ||
                        uIsNan(data()[0]) ||
                        uIsNan(data()[1]) ||
                        uIsNan(data()[2]) ||
                        uIsNan(data()[3]) ||
                        uIsNan(data()[4]) ||
                        uIsNan(data()[5]) ||
                        uIsNan(data()[6]) ||
                        uIsNan(data()[7]) ||
                        uIsNan(data()[8]) ||
                        uIsNan(data()[9]) ||
                        uIsNan(data()[10]) ||
                        uIsNan(data()[11]));
}
 
bool Transform::isIdentity() const
{
        return data()[0] == 1.0f &&
                        data()[1] == 0.0f &&
                        data()[2] == 0.0f &&
                        data()[3] == 0.0f &&
                        data()[4] == 0.0f &&
                        data()[5] == 1.0f &&
                        data()[6] == 0.0f &&
                        data()[7] == 0.0f &&
                        data()[8] == 0.0f &&
                        data()[9] == 0.0f &&
                        data()[10] == 1.0f &&
                        data()[11] == 0.0f;
}
 
void Transform::setNull()
{
        *this = Transform();
}
 
void Transform::setIdentity()
{
        *this = getIdentity();
}
 
float Transform::theta() const
{
        float roll, pitch, yaw;
        this->getEulerAngles(roll, pitch, yaw);
        return yaw;
}
 
bool Transform::isInvertible() const
{
        bool invertible = false;
        Eigen::Matrix4f inverse;
        Eigen::Matrix4f::RealScalar det;
        toEigen4f().computeInverseAndDetWithCheck(inverse, det, invertible);
        return invertible;
}
 
Transform Transform::inverse() const
{
        bool invertible = false;
        Eigen::Matrix4f inverse;
        Eigen::Matrix4f::RealScalar det;
        toEigen4f().computeInverseAndDetWithCheck(inverse, det, invertible);
        UASSERT_MSG(invertible, uFormat("This transform is not invertible! %s \n"
                        "[%f %f %f %f;\n"
                        " %f %f %f %f;\n"
                        " %f %f %f %f;\n"
                        " 0 0 0 1]", prettyPrint().c_str(),
                        r11(), r12(), r13(), o14(),
                        r21(), r22(), r23(), o24(),
                        r31(), r32(), r33(), o34()).c_str());
        return fromEigen4f(inverse);
}
 
Transform Transform::rotation() const
{
        return Transform(
                        data()[0], data()[1], data()[2], 0,
                        data()[4], data()[5], data()[6], 0,
                        data()[8], data()[9], data()[10], 0);
}
 
Transform Transform::translation() const
{
        return Transform(1,0,0, data()[3],
                                         0,1,0, data()[7],
                                         0,0,1, data()[11]);
}
 
Transform Transform::to3DoF() const
{
        float x,y,z,roll,pitch,yaw;
        this->getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
        float A = std::cos(yaw);
        float B = std::sin(yaw);
        return Transform(
                        A,-B, 0, x,
                        B, A, 0, y,
                        0, 0, 1, 0);
}
 
Transform Transform::to4DoF() const
{
        float x,y,z,roll,pitch,yaw;
        this->getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
        float A = std::cos(yaw);
        float B = std::sin(yaw);
        return Transform(
                        A,-B, 0, x,
                        B, A, 0, y,
                        0, 0, 1, z);
}
 
bool Transform::is3DoF() const
{
        return is4DoF() && z() == 0.0;
}
 
bool Transform::is4DoF() const
{
        return r13() == 0.0 &&
                   r23() == 0.0 &&
                   r31() == 0.0 &&
                   r32() == 0.0 &&
                   r33() == 1.0;
}
 
cv::Mat Transform::rotationMatrix() const
{
        return data_.colRange(0, 3).clone();
}
 
cv::Mat Transform::translationMatrix() const
{
        return data_.col(3).clone();
}
 
void Transform::getTranslationAndEulerAngles(float & x, float & y, float & z, float & roll, float & pitch, float & yaw) const
{
        pcl::getTranslationAndEulerAngles(toEigen3f(), x, y, z, roll, pitch, yaw);
}
 
void Transform::getEulerAngles(float & roll, float & pitch, float & yaw) const
{
        float x,y,z;
        pcl::getTranslationAndEulerAngles(toEigen3f(), x, y, z, roll, pitch, yaw);
}
 
void Transform::getTranslation(float & x, float & y, float & z) const
{
        x = this->x();
        y = this->y();
        z = this->z();
}
 
float Transform::getAngle(float x, float y, float z) const
{
        Eigen::Vector3f vA(x,y,z);
        Eigen::Vector3f vB = this->toEigen3f().linear()*Eigen::Vector3f(1,0,0);
        return pcl::getAngle3D(Eigen::Vector4f(vA[0], vA[1], vA[2], 0), Eigen::Vector4f(vB[0], vB[1], vB[2], 0));
}
 
float Transform::getNorm() const
{
        return uNorm(this->x(), this->y(), this->z());
}
 
float Transform::getNormSquared() const
{
        return uNormSquared(this->x(), this->y(), this->z());
}
 
float Transform::getDistance(const Transform & t) const
{
        return uNorm(this->x()-t.x(), this->y()-t.y(), this->z()-t.z());
}
 
float Transform::getDistanceSquared(const Transform & t) const
{
        return uNormSquared(this->x()-t.x(), this->y()-t.y(), this->z()-t.z());
}
 
Transform Transform::interpolate(float t, const Transform & other) const
{
        Eigen::Quaternionf qa=this->getQuaternionf();
        Eigen::Quaternionf qb=other.getQuaternionf();
        Eigen::Quaternionf qres = qa.slerp(t, qb);
 
        float x = this->x() + t*(other.x() - this->x());
        float y = this->y() + t*(other.y() - this->y());
        float z = this->z() + t*(other.z() - this->z());
 
        return Transform(x,y,z, qres.x(), qres.y(), qres.z(), qres.w());
}
 
void Transform::normalizeRotation()
{
        if(!this->isNull())
        {
                Eigen::Affine3f m = toEigen3f();
                m.linear() = Eigen::Quaternionf(m.linear()).normalized().toRotationMatrix();
                *this = fromEigen3f(m);
        }
}
 
std::string Transform::prettyPrint() const
{
        if(this->isNull())
        {
                return uFormat("xyz=[null] rpy=[null]");
        }
        else
        {
                float x,y,z,roll,pitch,yaw;
                getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
                return uFormat("xyz=%f,%f,%f rpy=%f,%f,%f", x,y,z, roll,pitch,yaw);
        }
}
 
Transform Transform::operator*(const Transform & t) const
{
        Eigen::Affine3f m = Eigen::Affine3f(toEigen4f()*t.toEigen4f());
        // make sure rotation is always normalized!
        m.linear() = Eigen::Quaternionf(m.linear()).normalized().toRotationMatrix();
        return fromEigen3f(m);
}
 
Transform & Transform::operator*=(const Transform & t)
{
        *this = *this * t;
        return *this;
}
 
bool Transform::operator==(const Transform & t) const
{
        return memcmp(data_.data, t.data_.data, data_.total() * sizeof(float)) == 0;
}
 
bool Transform::operator!=(const Transform & t) const
{
        return !(*this == t);
}
 
std::ostream& operator<<(std::ostream& os, const Transform& s)
{
        os << "[" << s.data()[0] << ", " << s.data()[1] << ", " << s.data()[2] << ", " << s.data()[3] << ";" << std::endl
           << " " << s.data()[4] << ", " << s.data()[5] << ", " << s.data()[6] << ", " << s.data()[7] << ";" << std::endl
           << " " << s.data()[8] << ", " << s.data()[9] << ", " << s.data()[10]<< ", " << s.data()[11] << "]";
        return os;
}
 
Eigen::Matrix4f Transform::toEigen4f() const
{
        Eigen::Matrix4f m;
        m << data()[0], data()[1], data()[2], data()[3],
                 data()[4], data()[5], data()[6], data()[7],
                 data()[8], data()[9], data()[10], data()[11],
                 0,0,0,1;
        return m;
}
Eigen::Matrix4d Transform::toEigen4d() const
{
        Eigen::Matrix4d m;
        m << data()[0], data()[1], data()[2], data()[3],
                 data()[4], data()[5], data()[6], data()[7],
                 data()[8], data()[9], data()[10], data()[11],
                 0,0,0,1;
        return m;
}
 
Eigen::Affine3f Transform::toEigen3f() const
{
        return Eigen::Affine3f(toEigen4f());
}
 
Eigen::Affine3d Transform::toEigen3d() const
{
        return Eigen::Affine3d(toEigen4d());
}
 
Eigen::Quaternionf Transform::getQuaternionf() const
{
        return Eigen::Quaternionf(this->toEigen3f().linear()).normalized();
}
 
Eigen::Quaterniond Transform::getQuaterniond() const
{
        return Eigen::Quaterniond(this->toEigen3d().linear()).normalized();
}
 
Transform Transform::getIdentity()
{
        return Transform(1,0,0,0, 0,1,0,0, 0,0,1,0);
}
 
Transform Transform::fromEigen4f(const Eigen::Matrix4f & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen4d(const Eigen::Matrix4d & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
 
Transform Transform::fromEigen3f(const Eigen::Affine3f & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen3d(const Eigen::Affine3d & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
 
Transform Transform::fromEigen3f(const Eigen::Isometry3f & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen3d(const Eigen::Isometry3d & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
 
Transform Transform::fromEigen3f(const Eigen::Matrix<float, 3, 4> & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
Transform Transform::fromEigen3d(const Eigen::Matrix<double, 3, 4> & matrix)
{
        return Transform(matrix(0,0), matrix(0,1), matrix(0,2), matrix(0,3),
                                         matrix(1,0), matrix(1,1), matrix(1,2), matrix(1,3),
                                         matrix(2,0), matrix(2,1), matrix(2,2), matrix(2,3));
}
 
Transform Transform::fromString(const std::string & string)
{
        std::list<std::string> list = uSplit(string, ' ');
        UASSERT_MSG(list.empty() || list.size() == 3 || list.size() == 6 || list.size() == 7 || list.size() == 9 || list.size() == 12,
                        uFormat("Cannot parse \"%s\"", string.c_str()).c_str());
 
        std::vector<float> numbers(list.size());
        int i = 0;
        for(std::list<std::string>::iterator iter=list.begin(); iter!=list.end(); ++iter)
        {
                numbers[i++] = uStr2Float(*iter);
        }
 
        Transform t;
        if(numbers.size() == 3)
        {
                t = Transform(numbers[0], numbers[1], numbers[2]);
        }
        else if(numbers.size() == 6)
        {
                t = Transform(numbers[0], numbers[1], numbers[2], numbers[3], numbers[4], numbers[5]);
        }
        else if(numbers.size() == 7)
        {
 
                t = Transform(numbers[0], numbers[1], numbers[2], numbers[3], numbers[4], numbers[5], numbers[6]);
        }
        else if(numbers.size() == 9)
        {
                t = Transform(numbers[0], numbers[1], numbers[2], 0,
                                          numbers[3], numbers[4], numbers[5], 0,
                                          numbers[6], numbers[7], numbers[8], 0);
        }
        else if(numbers.size() == 12)
        {
                t = Transform(numbers[0], numbers[1], numbers[2], numbers[3],
                                          numbers[4], numbers[5], numbers[6], numbers[7],
                                          numbers[8], numbers[9], numbers[10], numbers[11]);
        }
        return t;
}
 
bool Transform::canParseString(const std::string & string)
{
        std::list<std::string> list = uSplit(string, ' ');
        return list.size() == 0 || list.size() == 3 || list.size() == 6 || list.size() == 7 || list.size() == 9 || list.size() == 12;
}
 
Transform Transform::getTransform(
                                const std::map<double, Transform> & tfBuffer,
                                const double & stamp)
{
        UASSERT(!tfBuffer.empty());
        std::map<double, Transform>::const_iterator imuIterB = tfBuffer.lower_bound(stamp);
        std::map<double, Transform>::const_iterator imuIterA = imuIterB;
        if(imuIterA != tfBuffer.begin())
        {
                imuIterA = --imuIterA;
        }
        if(imuIterB == tfBuffer.end())
        {
                imuIterB = --imuIterB;
        }
        Transform imuT;
        if(imuIterB->first == stamp)
        {
                imuT = imuIterB->second;
        }
        else if(imuIterA != imuIterB)
        {
                //interpolate:
                imuT = imuIterA->second.interpolate((stamp-imuIterA->first) / (imuIterB->first-imuIterA->first), imuIterB->second);
        }
        else if(stamp > imuIterB->first)
        {
                UWARN("No transform found for stamp %f! Latest is %f", stamp, imuIterB->first);
        }
        else
        {
                UWARN("No transform found for stamp %f! Earliest is %f", stamp, imuIterA->first);
        }
        return imuT;
}
 
Transform Transform::getClosestTransform(
                                const std::map<double, Transform> & tfBuffer,
                                const double & stamp,
                                double * stampDiff)
{
        UASSERT(!tfBuffer.empty());
        std::map<double, Transform>::const_iterator imuIterB = tfBuffer.lower_bound(stamp);
        std::map<double, Transform>::const_iterator imuIterA = imuIterB;
        if(imuIterA != tfBuffer.begin())
        {
                imuIterA = --imuIterA;
        }
        if(imuIterB == tfBuffer.end())
        {
                imuIterB = --imuIterB;
        }
        Transform imuT;
        if(imuIterB->first == stamp || imuIterA == imuIterB)
        {
                imuT = imuIterB->second;
                if(stampDiff)
                {
                        *stampDiff = fabs(imuIterB->first - stamp);
                }
        }
        else if(imuIterA != imuIterB)
        {
                //interpolate:
                imuT = imuIterA->second.interpolate((stamp-imuIterA->first) / (imuIterB->first-imuIterA->first), imuIterB->second);
                if(stampDiff)
                {
                        *stampDiff = 0.0;
                }
        }
        return imuT;
}
 
 
}