se3_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 <mrpt/tfest.h>
#include <mrpt/random.h>
#include <mrpt/math/ops_vectors.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <gtest/gtest.h>
 
using namespace mrpt;
using namespace mrpt::tfest;
using namespace mrpt::math;
using namespace mrpt::random;
using namespace mrpt::poses;
using namespace std;
 
using TPoints = std::vector<std::vector<double>>;
 
// ------------------------------------------------------
//              Generate both sets of points
// ------------------------------------------------------
CPose3DQuat generate_points(TPoints& pA, TPoints& pB)
{
    const double Dx = 0.5;
    const double Dy = 1.5;
    const double Dz = 0.75;
 
    const double yaw = DEG2RAD(10);
    const double pitch = DEG2RAD(20);
    const double roll = DEG2RAD(5);
 
    pA.resize(5);  // A set of points at "A" reference system
    pB.resize(5);  // A set of points at "B" reference system
 
    pA[0].resize(3);
    pA[0][0] = 0.0;
    pA[0][1] = 0.5;
    pA[0][2] = 0.4;
    pA[1].resize(3);
    pA[1][0] = 1.0;
    pA[1][1] = 1.5;
    pA[1][2] = -0.1;
    pA[2].resize(3);
    pA[2][0] = 1.2;
    pA[2][1] = 1.1;
    pA[2][2] = 0.9;
    pA[3].resize(3);
    pA[3][0] = 0.7;
    pA[3][1] = 0.3;
    pA[3][2] = 3.4;
    pA[4].resize(3);
    pA[4][0] = 1.9;
    pA[4][1] = 2.5;
    pA[4][2] = -1.7;
 
    CPose3DQuat qPose = CPose3DQuat(CPose3D(Dx, Dy, Dz, yaw, pitch, roll));
    for (unsigned int i = 0; i < 5; ++i)
    {
        pB[i].resize(3);
        qPose.inverseComposePoint(
            pA[i][0], pA[i][1], pA[i][2], pB[i][0], pB[i][1], pB[i][2]);
    }
 
    return qPose;
 
}  // end generate_points
 
// ------------------------------------------------------
//              Generate a list of matched points
// ------------------------------------------------------
void generate_list_of_points(
    const TPoints& pA, const TPoints& pB, TMatchingPairList& list)
{
    TMatchingPair pair;
    for (unsigned int i = 0; i < 5; ++i)
    {
        pair.this_idx = pair.other_idx = i;
        pair.this_x = pA[i][0];
        pair.this_y = pA[i][1];
        pair.this_z = pA[i][2];
 
        pair.other_x = pB[i][0];
        pair.other_y = pB[i][1];
        pair.other_z = pB[i][2];
 
        list.push_back(pair);
    }
}  // end generate_list_of_points
 
// ------------------------------------------------------
//              Genreate a vector of matched points
// ------------------------------------------------------
void generate_vector_of_points(
    const TPoints& pA, const TPoints& pB, vector<mrpt::math::TPoint3D>& ptsA,
    vector<mrpt::math::TPoint3D>& ptsB)
{
    // The input vector: inV = [pA1x, pA1y, pA1z, pB1x, pB1y, pB1z, ... ]
    ptsA.resize(pA.size());
    ptsB.resize(pA.size());
    for (unsigned int i = 0; i < pA.size(); ++i)
    {
        ptsA[i] = mrpt::math::TPoint3D(pA[i][0], pA[i][1], pA[i][2]);
        ptsB[i] = mrpt::math::TPoint3D(pB[i][0], pB[i][1], pB[i][2]);
    }
}  // end generate_vector_of_points
 
TEST(tfest, se3_l2_MatchList)
{
    TPoints pA, pB;  // The input points
    CPose3DQuat qPose = generate_points(pA, pB);
 
    TMatchingPairList list;
    generate_list_of_points(pA, pB, list);  // Generate a list of matched points
 
    CPose3DQuat outQuat;  // Output CPose3DQuat for the LSRigidTransformation
    double scale;  // Output scale value
 
    bool res = mrpt::tfest::se3_l2(list, outQuat, scale);
    EXPECT_TRUE(res);
 
    double err = 0.0;
    if ((qPose[3] * outQuat[3] > 0 && qPose[4] * outQuat[4] > 0 &&
         qPose[5] * outQuat[5] > 0 && qPose[6] * outQuat[6] > 0) ||
        (qPose[3] * outQuat[3] < 0 && qPose[4] * outQuat[4] < 0 &&
         qPose[5] * outQuat[5] < 0 && qPose[6] * outQuat[6] < 0))
    {
        for (unsigned int i = 0; i < 7; ++i)
            err += square(std::fabs(qPose[i]) - std::fabs(outQuat[i]));
        err = sqrt(err);
        EXPECT_TRUE(err < 1e-6) << "Applied quaternion: " << endl
                                << qPose << endl
                                << "Out CPose3DQuat: " << endl
                                << outQuat << " [Err: " << err << "]" << endl;
    }
    else
    {
        GTEST_FAIL() << "Applied quaternion: " << endl
                     << qPose << endl
                     << "Out CPose3DQuat: " << endl
                     << outQuat << endl;
    }
}
 
TEST(tfest, se3_l2_PtsLists)
{
    TPoints pA, pB;  // The input points
    CPose3DQuat qPose = generate_points(pA, pB);
 
    vector<mrpt::math::TPoint3D> ptsA, ptsB;
    generate_vector_of_points(
        pA, pB, ptsA, ptsB);  // Generate a vector of matched points
 
    mrpt::poses::CPose3DQuat qu;
    double scale;
    mrpt::tfest::se3_l2(
        ptsA, ptsB, qu, scale);  // Output quaternion for the Horn Method
 
    double err = 0.0;
    if ((qPose[3] * qu[3] > 0 && qPose[4] * qu[4] > 0 && qPose[5] * qu[5] > 0 &&
         qPose[6] * qu[6] > 0) ||
        (qPose[3] * qu[3] < 0 && qPose[4] * qu[4] < 0 && qPose[5] * qu[5] < 0 &&
         qPose[6] * qu[6] < 0))
    {
        for (unsigned int i = 0; i < 7; ++i)
            err += square(std::fabs(qPose[i]) - std::fabs(qu[i]));
        err = sqrt(err);
        EXPECT_TRUE(err < 1e-6) << "Applied quaternion: " << endl
                                << qPose << endl
                                << "Out CPose3DQuat: " << endl
                                << qu << " [Err: " << err << "]" << endl;
    }
    else
    {
        GTEST_FAIL() << "Applied quaternion: " << endl
                     << qPose << endl
                     << "Out CPose3DQuat: " << endl
                     << qu << endl;
    }
}  // end
 
TEST(tfest, se3_l2_robust)
{
    TPoints pA, pB;  // The input points
    CPose3DQuat qPose = generate_points(pA, pB);
 
    TMatchingPairList list;
    generate_list_of_points(pA, pB, list);  // Generate a list of matched points
 
    mrpt::tfest::TSE3RobustResult estim_result;
    mrpt::tfest::TSE3RobustParams params;
    params.ransac_minSetSize = 3;
    params.ransac_maxSetSizePct = 3.0 / list.size();
    mrpt::tfest::se3_l2_robust(list, params, estim_result);
 
    EXPECT_GT(estim_result.inliers_idx.size(), 0u);
    const CPose3DQuat& outQuat = estim_result.transformation;
    double err = 0.0;
    if ((qPose[3] * outQuat[3] > 0 && qPose[4] * outQuat[4] > 0 &&
         qPose[5] * outQuat[5] > 0 && qPose[6] * outQuat[6] > 0) ||
        (qPose[3] * outQuat[3] < 0 && qPose[4] * outQuat[4] < 0 &&
         qPose[5] * outQuat[5] < 0 && qPose[6] * outQuat[6] < 0))
    {
        for (unsigned int i = 0; i < 7; ++i)
            err += square(std::fabs(qPose[i]) - std::fabs(outQuat[i]));
        err = sqrt(err);
        EXPECT_TRUE(err < 1e-6) << "Applied quaternion: " << endl
                                << qPose << endl
                                << "Out CPose3DQuat: " << endl
                                << outQuat << " [Err: " << err << "]" << endl;
    }
    else
    {
        GTEST_FAIL() << "Applied quaternion: " << endl
                     << qPose << endl
                     << "Out CPose3DQuat: " << endl
                     << outQuat << endl;
    }
}