observations_overlap.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 "slam-precomp.h"   // Precompiled headers
 
#include <mrpt/slam/observations_overlap.h>
#include <mrpt/maps/CPointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
 
using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace std;
 
/** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
  *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
  */
double mrpt::slam::observationsOverlap(
        const mrpt::obs::CObservation* o1,
        const mrpt::obs::CObservation* o2,
        const mrpt::poses::CPose3D *pose_o2_wrt_o1 )
{
        if (IS_CLASS(o1,CObservation2DRangeScan) && IS_CLASS(o2,CObservation2DRangeScan))
        {
                const CObservation2DRangeScan *this_obs = static_cast<const CObservation2DRangeScan *>(o1);
                const CObservation2DRangeScan *obs      = static_cast<const CObservation2DRangeScan *>(o2);
 
                const CPointsMap *map1 = this_obs->buildAuxPointsMap<mrpt::maps::CPointsMap>();
                const CPointsMap *map2 = obs->buildAuxPointsMap<mrpt::maps::CPointsMap>();
 
                // if PDF is available, get "mean" value as an estimation:
                CPose3D   otherObsPose;
                if (pose_o2_wrt_o1)
                        otherObsPose = *pose_o2_wrt_o1;
 
                mrpt::utils::TMatchingPairList  correspondences;
                mrpt::maps::TMatchingParams matchParams;
                mrpt::maps::TMatchingExtraResults matchExtraResults;
 
                matchParams.maxDistForCorrespondence = 0.04f;
                matchParams.maxAngularDistForCorrespondence = 0;
                map1->determineMatching3D(
                        map2,                           // The other map
                        otherObsPose,           // The other map pose
                        correspondences,
                        matchParams, matchExtraResults);
 
                return matchExtraResults.correspondencesRatio;
        }
        else
        {
                // No idea...
                return 0;
        }
 
}
 
/** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
  *   This method computes the average between each of the observations in each SF.
  *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
  */
double mrpt::slam::observationsOverlap(
        const mrpt::obs::CSensoryFrame &sf1,
        const mrpt::obs::CSensoryFrame &sf2,
        const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 )
{
        MRPT_UNUSED_PARAM(pose_sf2_wrt_sf1);
        // Return the average value:
        size_t N=0;
        double accum = 0;
        for (CSensoryFrame::const_iterator i1=sf1.begin();i1!=sf1.end();++i1)
        {
                for (CSensoryFrame::const_iterator i2=sf2.begin();i2!=sf2.end();++i2)
                {
                        accum += observationsOverlap(*i1,*i2);
                        N++;
                }
        }
        return  N ? (accum/N) : 0;
}