types.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "vision-precomp.h"   // Precompiled headers

#include <mrpt/vision/types.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils/stl_containers_utils.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/utils/stl_containers_utils.h>
#include <iostream>
#include <iomanip>

using namespace std;
using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::vision;
using namespace mrpt::system;

// ==================== TSequenceFeatureObservations ====================
/** Saves all entries to a text file, with each line having this format: #FRAME_ID  #FEAT_ID  #PIXEL_X  #PIXEL_Y
  * \sa loadFromTextFile  */
void TSequenceFeatureObservations::saveToTextFile(const std::string &filName, bool skipFirstCommentLine ) const
{
        MRPT_START

        ofstream f(filName.c_str());
        if (!f.is_open()) THROW_EXCEPTION_FMT("Can't open file: %s",filName.c_str())

        if (!skipFirstCommentLine)
                f << "% FRAME_ID  FEAT_ID   X         Y     \n"
                     "%-------------------------------------\n";

        for (BASE::const_iterator it=BASE::begin();it!=BASE::end();++it)
                        f << setw(7) << it->id_frame << setw(7) << it->id_feature << setw(13) << it->px.x << setw(11) << it->px.y << endl;

        MRPT_END
}

/** Load from a text file, in the format described in \a saveToTextFile */
void TSequenceFeatureObservations::loadFromTextFile(const std::string &filName)
{
        MRPT_START

        BASE::clear();  // Erase previous contents

        ifstream f(filName.c_str());
        if (!f.is_open()) THROW_EXCEPTION_FMT("Can't open file: %s",filName.c_str())

        unsigned int linNum = 0;
        while (!f.fail())
        {
                linNum++; // Line counter (for error reporting)
                string lin;
                std::getline(f,lin);
                lin=trim(lin);
                if (lin.empty() || lin[0]=='%') continue;

                // Read from each line as a stream:
                std::istringstream s;
                s.str(lin);

                TFeatureID              featID;
                TCameraPoseID   camID;
                TPixelCoordf    px;
                if (!(s >> camID >> featID >> px.x >> px.y))
                        THROW_EXCEPTION(format("%s:%u: Error parsing line: '%s'",filName.c_str(),linNum,lin.c_str()))

                BASE::push_back( TFeatureObservation(featID,camID,px) );
        }

        MRPT_END
}

bool TSequenceFeatureObservations::saveAsSBAFiles(
        const TLandmarkLocationsVec &pts,
        const std::string &pts_file,
        const TFramePosesVec        &cams,
        const std::string &cams_file) const
{
        MRPT_START

        std::map<TLandmarkID, std::map<TCameraPoseID, TPixelCoordf> > obs_by_point;

        for (size_t i=0;i<BASE::size();i++)
        {
                const TFeatureObservation & o = (*this)[i];
                std::map<TCameraPoseID, TPixelCoordf> & m = obs_by_point[ o.id_feature ];
                m[o.id_frame]= o.px;
        }

        // # X Y Z  nframes  frame0 x0 y0  frame1 x1 y1 ...
        ofstream f(pts_file.c_str());
        if (!f.is_open())
                return false;

        f << "# X Y Z  nframes  frame0 x0 y0  frame1 x1 y1 ...\n";
        for (std::map<TLandmarkID, std::map<TCameraPoseID, TPixelCoordf> >::const_iterator it=obs_by_point.begin();it!=obs_by_point.end();++it)
        {
                const std::map<TCameraPoseID, TPixelCoordf> & m = it->second;
                f << pts[it->first].x << " "
                  << pts[it->first].y << " "
                  << pts[it->first].z << " "
                  << m.size() << " ";
                for (std::map<TCameraPoseID, TPixelCoordf>::const_iterator itO=m.begin();itO!=m.end();++itO)
                        f << itO->first << " " << itO->second.x << " "<< itO->second.y << " ";
                f << endl;
        }

        ofstream fc(cams_file.c_str());
        if (!fc.is_open())
                return false;

        for (size_t i=0;i<cams.size();i++)
        {
                const mrpt::poses::CPose3D &pos = cams[i];
                const mrpt::poses::CPose3DQuat p(pos);
                fc << p.m_quat[0] << " "
                   << p.m_quat[1] << " "
                   << p.m_quat[2] << " "
                   << p.m_quat[3] << " "
                   << p.x() << " "
                   << p.y() << " "
                   << p.z() << endl;
        }

        return true;
        MRPT_END
}


/** Remove all those features that don't have a minimum number of observations from different camera frame IDs. */
size_t TSequenceFeatureObservations::removeFewObservedFeatures(size_t minNumObservations )
{
        MRPT_START

        size_t remCount = 0;

        // 1st pass: Count total views
        map<TLandmarkID,size_t>  numViews;
        for (BASE::iterator it=BASE::begin();it!=BASE::end(); ++it )
                numViews[it->id_feature]++;

        // 2nd pass: Remove selected ones:
        for (size_t idx=0; idx<BASE::size();  )
        {
                if (numViews[(*this)[idx].id_feature]<minNumObservations)
                {
                        BASE::erase( BASE::begin()+idx );
                        remCount++;
                }
                else  ++idx;
        }
        return remCount;
        MRPT_END
}

/** Remove one out of \a decimate_ratio camera frame IDs from the list.
  * \sa After calling this you may want to call \a compressIDs */
void TSequenceFeatureObservations::decimateCameraFrames(const size_t decimate_ratio)
{
        ASSERT_ABOVEEQ_(decimate_ratio,1)
        if (decimate_ratio==1)
                return; // =1 -> Delete no one!

        // 1) Make sorted list of frame IDs:
        set<TCameraPoseID>  frameIDs;
        for (BASE::const_iterator it=BASE::begin();it!=BASE::end();++it)
                frameIDs.insert(it->id_frame);

        // 2) Leave in "frameIDs" just the IDs that will survive:
        for (set<TCameraPoseID>::iterator it=frameIDs.begin();it!=frameIDs.end(); )
        {
                // Leave one:
                ++it;
                // Remove "decimate_ratio-1"
                for (size_t d=0;d<decimate_ratio-1 && it!=frameIDs.end();d++)
                        it=mrpt::utils::erase_return_next(frameIDs,it);
        }

        // 3) Make a new list of observations with only the desired data:
        TSequenceFeatureObservations newLst;
        newLst.reserve(BASE::size() / decimate_ratio);
        for (BASE::const_iterator it=BASE::begin();it!=BASE::end();++it)
                if (frameIDs.find(it->id_frame)!=frameIDs.end())
                        newLst.push_back(*it);

        // Finally, save content in "this":
        this->swap(newLst);
}

/** Rearrange frame and feature IDs such as they start at 0 and there are no gaps. */
void TSequenceFeatureObservations::compressIDs(
        std::map<TCameraPoseID,TCameraPoseID>  *old2new_camIDs,
        std::map<TLandmarkID,TLandmarkID>      *old2new_lmIDs )
{
        // 1st pass: Make list of translation IDs.
        std::map<TCameraPoseID,TCameraPoseID>  camIDs;
        std::map<TLandmarkID,TLandmarkID>      lmIDs;

        for (BASE::const_iterator it=BASE::begin();it!=BASE::end();++it)
        {
                const TFeatureID    f_ID = it->id_feature;
                const TCameraPoseID c_ID = it->id_frame;

                if (lmIDs.find(f_ID)==lmIDs.end())
                {
                        TLandmarkID nextID = lmIDs.size();  // *IMPORTANT* Separate in 2 lines, otherwise lmIDs[] is called first (!?)
                        lmIDs[f_ID]=nextID;
                }
                if (camIDs.find(c_ID)==camIDs.end())
                {
                        TCameraPoseID nextID = camIDs.size();  // *IMPORTANT* Separate in 2 lines, otherwise camIDs[] is called first (!?)
                        camIDs[c_ID]=nextID;
                }
        }

        // 2nd: Create a new list with the translated IDs:
        const size_t N = BASE::size();
        TSequenceFeatureObservations  newLst(N);
        for (size_t i=0;i<N;++i)
        {
                newLst[i].id_feature = lmIDs [ (*this)[i].id_feature ];
                newLst[i].id_frame   = camIDs[ (*this)[i].id_frame ];
                newLst[i].px         = (*this)[i].px;
        }

        // And save that new list in "this":
        this->swap(newLst);

        // Return translations, if requested:
        if (old2new_camIDs) old2new_camIDs->swap(camIDs);
        if (old2new_lmIDs)  old2new_lmIDs->swap(lmIDs);

}