rtabmap_ros/corelib/src/Link.cpp

/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      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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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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#include "rtabmap/core/Link.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.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;
	}
}
Link::Link(int from,
		int to,
		Type type,
		const Transform & transform,
		double rotVariance,
		double transVariance,
		const cv::Mat & userData) :
	from_(from),
	to_(to),
	transform_(transform),
	type_(type)
{
	setVariance(rotVariance, transVariance);

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

double Link::rotVariance() const
{
	double min = uMin3(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 = uMin3(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, "Transitional information should not be null! (set to 1 if unknown)");
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(1,1)) && infMatrix.at<double>(1,1)>0, "Transitional information should not be null! (set to 1 if unknown)");
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(2,2)) && infMatrix.at<double>(2,2)>0, "Transitional information should not be null! (set to 1 if unknown)");
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(3,3)) && infMatrix.at<double>(3,3)>0, "Rotational information should not be null! (set to 1 if unknown)");
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(4,4)) && infMatrix.at<double>(4,4)>0, "Rotational information should not be null! (set to 1 if unknown)");
	UASSERT_MSG(uIsFinite(infMatrix.at<double>(5,5)) && infMatrix.at<double>(5,5)>0, "Rotational information should not be null! (set to 1 if unknown)");
	infMatrix_ = infMatrix;
}
void Link::setVariance(double rotVariance, double transVariance) {
	UASSERT(uIsFinite(rotVariance) && rotVariance>0);
	UASSERT(uIsFinite(transVariance) && transVariance>0);
	infMatrix_ = cv::Mat::eye(6,6,CV_64FC1);
	infMatrix_.at<double>(0,0) = 1.0/transVariance;
	infMatrix_.at<double>(1,1) = 1.0/transVariance;
	infMatrix_.at<double>(2,2) = 1.0/transVariance;
	infMatrix_.at<double>(3,3) = 1.0/rotVariance;
	infMatrix_.at<double>(4,4) = 1.0/rotVariance;
	infMatrix_.at<double>(5,5) = 1.0/rotVariance;
}

void Link::setUserDataRaw(const cv::Mat & userDataRaw)
{
	if(!_userDataRaw.empty())
	{
		UWARN("Writing new user data over existing user data. This may result in data loss.");
	}
	_userDataRaw = userDataRaw;
}

void Link::setUserData(const cv::Mat & userData)
{
	if(!userData.empty() && (!_userDataCompressed.empty() || !_userDataRaw.empty()))
	{
		UWARN("Writing new user data over existing user data. This may result in data loss.");
	}
	_userDataRaw = cv::Mat();
	_userDataCompressed = cv::Mat();

	if(!userData.empty())
	{
		if(userData.type() == CV_8UC1) // Bytes
		{
			_userDataCompressed = userData; // assume compressed
		}
		else
		{
			_userDataRaw = userData;
			_userDataCompressed = compressData2(userData);
		}
	}
}

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_ + link.infMatrix());
}

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

}