TMatchingPair.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 "base-precomp.h"  // Precompiled headers
 
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/utils/utils_defs.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/system/os.h>
#include <mrpt/math/ops_containers.h>
 
using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace std;
 
/*---------------------------------------------------------------
                                                dumpToFile
  ---------------------------------------------------------------*/
void  TMatchingPairList::dumpToFile(const std::string &fileName) const
{
        CFileOutputStream  f(fileName);
        ASSERT_(f.fileOpenCorrectly())
 
        for (const_iterator it=begin();it!=end();++it)
        {
                f.printf("%u %u %f %f %f %f %f %f %f\n",
                                it->this_idx,
                                it->other_idx,
                                it->this_x,
                                it->this_y,
                                it->this_z,
                                it->other_x,
                                it->other_y,
                                it->other_z,
                                it->errorSquareAfterTransformation);
        }
}
 
/*---------------------------------------------------------------
                                                saveAsMATLABScript
  ---------------------------------------------------------------*/
void TMatchingPairList::saveAsMATLABScript( const std::string &filName ) const
{
        FILE    *f = os::fopen(filName.c_str(),"wt");
 
        fprintf(f,"%% ----------------------------------------------------\n");
        fprintf(f,"%%  File generated automatically by the MRPT method:\n");
        fprintf(f,"%%   saveAsMATLABScript  \n");
        fprintf(f,"%%  Before calling this script, define the color of lines, eg:\n");
        fprintf(f,"%%     colorLines=[1 1 1]");
        fprintf(f,"%%               J.L. Blanco (C) 2005-2012 \n");
        fprintf(f,"%% ----------------------------------------------------\n\n");
 
        fprintf(f,"axis equal; hold on;\n");
        for (const_iterator it=begin();it!=end();++it)
        {
                fprintf(f,"line([%f %f],[%f %f],'Color',colorLines);\n",
                                it->this_x,
                                it->other_x,
                                it->this_y,
                                it->other_y );
                fprintf(f,"set(plot([%f %f],[%f %f],'.'),'Color',colorLines,'MarkerSize',15);\n",
                                it->this_x,
                                it->other_x,
                                it->this_y,
                                it->other_y );
        }
        os::fclose(f);
}
 
/*---------------------------------------------------------------
                                                indexOtherMapHasCorrespondence
  ---------------------------------------------------------------*/
bool  TMatchingPairList::indexOtherMapHasCorrespondence(size_t idx) const
{
        for (const_iterator it=begin();it!=end();++it) {
                if (it->other_idx == idx) 
                        return true;
        }
        return false;
}
 
bool mrpt::utils::operator < (const TMatchingPair& a, const TMatchingPair& b)
{
        if (a.this_idx==b.this_idx)
                        return (a.this_idx<b.this_idx);
        else    return (a.other_idx<b.other_idx);
}
 
 
bool mrpt::utils::operator == (const TMatchingPair& a,const TMatchingPair& b)
{
        return (a.this_idx==b.this_idx) && (a.other_idx==b.other_idx);
}
 
bool mrpt::utils::operator == (const TMatchingPairList& a,const TMatchingPairList& b)
{
        if (a.size()!=b.size())
                return false;
        for (TMatchingPairList::const_iterator it1=a.begin(),it2=b.begin();it1!=a.end();++it1,++it2)
                if (!  ( (*it1)==(*it2)))
                        return false;
        return true;
}
 
 
/*---------------------------------------------------------------
                                                overallSquareError
  ---------------------------------------------------------------*/
float TMatchingPairList::overallSquareError( const CPose2D &q ) const
{
        vector<float> errs( size() );
        squareErrorVector(q,errs);
        return math::sum( errs );
}
 
/*---------------------------------------------------------------
                                                overallSquareErrorAndPoints
  ---------------------------------------------------------------*/
float TMatchingPairList::overallSquareErrorAndPoints(
        const CPose2D &q,
        vector<float> &xs,
        vector<float> &ys ) const
{
        vector<float> errs( size() );
        squareErrorVector(q,errs,xs,ys);
        return math::sum( errs );
}
 
/*---------------------------------------------------------------
                                        TMatchingPairList::contains
  ---------------------------------------------------------------*/
bool TMatchingPairList::contains (const TMatchingPair &p) const
{
        for (const_iterator corresp=begin();corresp!=end();++corresp)
                if ( *corresp == p )
                        return true;
        return false;
}
 
/*---------------------------------------------------------------
                                                squareErrorVector
  ---------------------------------------------------------------*/
void  TMatchingPairList::squareErrorVector(const CPose2D &q, vector<float> &out_sqErrs ) const
{
        out_sqErrs.resize( size() );
        // *    \f[ e_i = | x_{this} -  q \oplus x_{other}  |^2 \f]
 
        const float ccos = cos(q.phi());
        const float csin = sin(q.phi());
        const float qx   = q.x();
        const float qy   = q.y();
 
        const_iterator                  corresp;
        vector<float>::iterator e_i;
        for (corresp=begin(), e_i = out_sqErrs.begin();corresp!=end();++corresp, ++e_i)
        {
                float xx = qx + ccos * corresp->other_x - csin * corresp->other_y;
                float yy = qy + csin * corresp->other_x + ccos * corresp->other_y;
                *e_i = square( corresp->this_x - xx ) + square( corresp->this_y - yy );
        }
}
 
/*---------------------------------------------------------------
                                                squareErrorVector
  ---------------------------------------------------------------*/
void  TMatchingPairList::squareErrorVector(
        const CPose2D &q,
        vector<float> &out_sqErrs,
        vector<float> &xs,
        vector<float> &ys ) const
{
        out_sqErrs.resize( size() );
        xs.resize( size() );
        ys.resize( size() );
 
        // *    \f[ e_i = | x_{this} -  q \oplus x_{other}  |^2 \f]
 
        const float ccos = cos(q.phi());
        const float csin = sin(q.phi());
        const float qx   = q.x();
        const float qy   = q.y();
 
        const_iterator                  corresp;
        vector<float>::iterator e_i, xx, yy;
        for (corresp=begin(), e_i = out_sqErrs.begin(), xx = xs.begin(), yy = ys.begin();corresp!=end();++corresp, ++e_i, ++xx,++yy)
        {
                *xx = qx + ccos * corresp->other_x - csin * corresp->other_y;
                *yy = qy + csin * corresp->other_x + ccos * corresp->other_y;
                *e_i = square( corresp->this_x - *xx ) + square( corresp->this_y - *yy );
        }
}
 
void TMatchingPairList::filterUniqueRobustPairs(const size_t num_elements_this_map, TMatchingPairList &out_filtered_list) const
{
        std::vector<TMatchingPairConstPtr> bestMatchForThisMap(num_elements_this_map, TMatchingPairConstPtr(nullptr));
        out_filtered_list.clear();
 
        // 1) Go through all the correspondences and keep the best corresp.
        //    for each "global map" (this) point.
        for (auto &c : *this)
        {
                if (bestMatchForThisMap[c.this_idx] == nullptr ||  // first one
                        c.errorSquareAfterTransformation < bestMatchForThisMap[c.this_idx]->errorSquareAfterTransformation // or better
                        )
                {
                        bestMatchForThisMap[c.this_idx] = &c;
                }
        }
 
        //   2) Go again through the list of correspondences and remove those
        //       who are not the best one for their corresponding global map.
        for (auto &c : *this) {
                if (bestMatchForThisMap[c.this_idx] == &c)
                        out_filtered_list.push_back(c); // Add to the output
        }
}