se3_unittest.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 <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::utils;
using namespace mrpt::math;
using namespace mrpt::random;
using namespace mrpt::poses;
using namespace std;

typedef std::vector<std::vector<double>> TPoints;

// ------------------------------------------------------
//                              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;
        }
}