rtabmap/corelib/src/Link.cpp

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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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/Link.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/Compression.h>

namespace rtabmap {

Link::Link() :
	from_(0),
	to_(0),
	type_(kUndef),
	infMatrix_(cv::Mat::eye(6,6,CV_64FC1))
{
}
Link::Link(int from,
		int to,
		Type type,
		const Transform & transform,
		const cv::Mat & infMatrix,
		const cv::Mat & userData) :
	from_(from),
	to_(to),
	transform_(transform),
	type_(type)
{
	setInfMatrix(infMatrix);

	if(userData.type() == CV_8UC1) // Bytes
	{
		_userDataCompressed = userData; // assume compressed
	}
	else
	{
		_userDataRaw = userData;
	}
}

double Link::rotVariance() const
{
	double min = uMax3(infMatrix_.at<double>(3,3), infMatrix_.at<double>(4,4), infMatrix_.at<double>(5,5));
	UASSERT(min > 0.0);
	return 1.0/min;
}
double Link::transVariance() const
{
	double min = uMax3(infMatrix_.at<double>(0,0), infMatrix_.at<double>(1,1), infMatrix_.at<double>(2,2));
	UASSERT(min > 0.0);
	return 1.0/min;
}

void Link::setInfMatrix(const cv::Mat & infMatrix) {
	UASSERT(infMatrix.cols == 6 && infMatrix.rows == 6 && infMatrix.type() == CV_64FC1);
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(0,0)) && infMatrix.at<double>(0,0)>0, uFormat("Linear information should not be null! Value=%f (set to 1 if unknown).", infMatrix.at<double>(0,0)).c_str());
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(1,1)) && infMatrix.at<double>(1,1)>0, uFormat("Linear information should not be null! Value=%f (set to 1 if unknown).", infMatrix.at<double>(1,1)).c_str());
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(2,2)) && infMatrix.at<double>(2,2)>0, uFormat("Linear information should not be null! Value=%f (set to 1 if unknown).", infMatrix.at<double>(2,2)).c_str());
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(3,3)) && infMatrix.at<double>(3,3)>0, uFormat("Angular information should not be null! Value=%f (set to 1 if unknown).", infMatrix.at<double>(3,3)).c_str());
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(4,4)) && infMatrix.at<double>(4,4)>0, uFormat("Angular information should not be null! Value=%f (set to 1 if unknown).", infMatrix.at<double>(4,4)).c_str());
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(5,5)) && infMatrix.at<double>(5,5)>0, uFormat("Angular information should not be null! Value=%f (set to 1 if unknown).", infMatrix.at<double>(5,5)).c_str());
	infMatrix_ = infMatrix;
}

void Link::uncompressUserData()
{
	cv::Mat dataRaw = uncompressUserDataConst();
	if(!dataRaw.empty() && _userDataRaw.empty())
	{
		_userDataRaw = dataRaw;
	}
}

cv::Mat Link::uncompressUserDataConst() const
{
	if(!_userDataRaw.empty())
	{
		return _userDataRaw;
	}
	return uncompressData(_userDataCompressed);
}

Link Link::merge(const Link & link, Type outputType) const
{
	UASSERT(to_ == link.from());
	UASSERT(outputType != Link::kUndef);
	UASSERT((link.transform().isNull() && transform_.isNull()) || (!link.transform().isNull() && !transform_.isNull()));
	UASSERT(infMatrix_.cols == 6 && infMatrix_.rows == 6 && infMatrix_.type() == CV_64FC1);
	UASSERT(link.infMatrix().cols == 6 && link.infMatrix().rows == 6 && link.infMatrix().type() == CV_64FC1);
	return Link(
			from_,
			link.to(),
			outputType,
			transform_.isNull()?Transform():transform_ * link.transform(), // FIXME, should be inf1^-1(inf1*t1 + inf2*t2)
			transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.at<double>(0,0)<link.infMatrix().at<double>(0,0)?infMatrix_:link.infMatrix()));
			//transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):(infMatrix_.inv() + link.infMatrix().inv()).inv());
}

Link Link::inverse() const
{
	return Link(
			to_,
			from_,
			type_,
			transform_.isNull()?Transform():transform_.inverse(),
			transform_.isNull()?cv::Mat::eye(6,6,CV_64FC1):infMatrix_);
}

}