types.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 "vision-precomp.h"  // Precompiled headers

#include <mrpt/vision/types.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/containers/stl_containers_utils.h>
#include <iostream>
#include <iomanip>

using namespace std;
using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::img;
using namespace mrpt::system;

// ==================== TSequenceFeatureObservations ====================
/** Saves all entries to a text file, with each line having this format:
 * #FRAME_ID  #FEAT_ID  #PIXEL_X  #PIXEL_Y
  * \sa loadFromTextFile  */
void TSequenceFeatureObservations::saveToTextFile(
    const std::string& filName, bool skipFirstCommentLine) const
{
    MRPT_START

    ofstream f(filName.c_str());
    if (!f.is_open())
        THROW_EXCEPTION_FMT("Can't open file: %s", filName.c_str())

    if (!skipFirstCommentLine)
        f << "% FRAME_ID  FEAT_ID   X         Y     \n"
             "%-------------------------------------\n";

    for (BASE::const_iterator it = BASE::begin(); it != BASE::end(); ++it)
        f << setw(7) << it->id_frame << setw(7) << it->id_feature << setw(13)
          << it->px.x << setw(11) << it->px.y << endl;

    MRPT_END
}

/** Load from a text file, in the format described in \a saveToTextFile */
void TSequenceFeatureObservations::loadFromTextFile(const std::string& filName)
{
    MRPT_START

    BASE::clear();  // Erase previous contents

    ifstream f(filName.c_str());
    if (!f.is_open())
        THROW_EXCEPTION_FMT("Can't open file: %s", filName.c_str())

    unsigned int linNum = 0;
    while (!f.fail())
    {
        linNum++;  // Line counter (for error reporting)
        string lin;
        std::getline(f, lin);
        lin = trim(lin);
        if (lin.empty() || lin[0] == '%') continue;

        // Read from each line as a stream:
        std::istringstream s;
        s.str(lin);

        TFeatureID featID;
        TCameraPoseID camID;
        TPixelCoordf px;
        if (!(s >> camID >> featID >> px.x >> px.y))
            THROW_EXCEPTION(
                format(
                    "%s:%u: Error parsing line: '%s'", filName.c_str(), linNum,
                    lin.c_str()))

        BASE::push_back(TFeatureObservation(featID, camID, px));
    }

    MRPT_END
}

bool TSequenceFeatureObservations::saveAsSBAFiles(
    const TLandmarkLocationsVec& pts, const std::string& pts_file,
    const TFramePosesVec& cams, const std::string& cams_file) const
{
    MRPT_START

    std::map<TLandmarkID, std::map<TCameraPoseID, TPixelCoordf>> obs_by_point;

    for (size_t i = 0; i < BASE::size(); i++)
    {
        const TFeatureObservation& o = (*this)[i];
        std::map<TCameraPoseID, TPixelCoordf>& m = obs_by_point[o.id_feature];
        m[o.id_frame] = o.px;
    }

    // # X Y Z  nframes  frame0 x0 y0  frame1 x1 y1 ...
    ofstream f(pts_file.c_str());
    if (!f.is_open()) return false;

    f << "# X Y Z  nframes  frame0 x0 y0  frame1 x1 y1 ...\n";
    for (std::map<TLandmarkID,
                  std::map<TCameraPoseID, TPixelCoordf>>::const_iterator it =
             obs_by_point.begin();
         it != obs_by_point.end(); ++it)
    {
        const std::map<TCameraPoseID, TPixelCoordf>& m = it->second;
        f << pts[it->first].x << " " << pts[it->first].y << " "
          << pts[it->first].z << " " << m.size() << " ";
        for (std::map<TCameraPoseID, TPixelCoordf>::const_iterator itO =
                 m.begin();
             itO != m.end(); ++itO)
            f << itO->first << " " << itO->second.x << " " << itO->second.y
              << " ";
        f << endl;
    }

    ofstream fc(cams_file.c_str());
    if (!fc.is_open()) return false;

    for (size_t i = 0; i < cams.size(); i++)
    {
        const mrpt::poses::CPose3D& pos = cams[i];
        const mrpt::poses::CPose3DQuat p(pos);
        fc << p.m_quat[0] << " " << p.m_quat[1] << " " << p.m_quat[2] << " "
           << p.m_quat[3] << " " << p.x() << " " << p.y() << " " << p.z()
           << endl;
    }

    return true;
    MRPT_END
}

/** Remove all those features that don't have a minimum number of observations
 * from different camera frame IDs. */
size_t TSequenceFeatureObservations::removeFewObservedFeatures(
    size_t minNumObservations)
{
    MRPT_START

    size_t remCount = 0;

    // 1st pass: Count total views
    map<TLandmarkID, size_t> numViews;
    for (BASE::iterator it = BASE::begin(); it != BASE::end(); ++it)
        numViews[it->id_feature]++;

    // 2nd pass: Remove selected ones:
    for (size_t idx = 0; idx < BASE::size();)
    {
        if (numViews[(*this)[idx].id_feature] < minNumObservations)
        {
            BASE::erase(BASE::begin() + idx);
            remCount++;
        }
        else
            ++idx;
    }
    return remCount;
    MRPT_END
}

/** Remove one out of \a decimate_ratio camera frame IDs from the list.
  * \sa After calling this you may want to call \a compressIDs */
void TSequenceFeatureObservations::decimateCameraFrames(
    const size_t decimate_ratio)
{
    ASSERT_ABOVEEQ_(decimate_ratio, 1);
    if (decimate_ratio == 1) return;  // =1 -> Delete no one!

    // 1) Make sorted list of frame IDs:
    set<TCameraPoseID> frameIDs;
    for (BASE::const_iterator it = BASE::begin(); it != BASE::end(); ++it)
        frameIDs.insert(it->id_frame);

    // 2) Leave in "frameIDs" just the IDs that will survive:
    for (set<TCameraPoseID>::iterator it = frameIDs.begin();
         it != frameIDs.end();)
    {
        // Leave one:
        ++it;
        // Remove "decimate_ratio-1"
        for (size_t d = 0; d < decimate_ratio - 1 && it != frameIDs.end(); d++)
            it = mrpt::containers::erase_return_next(frameIDs, it);
    }

    // 3) Make a new list of observations with only the desired data:
    TSequenceFeatureObservations newLst;
    newLst.reserve(BASE::size() / decimate_ratio);
    for (BASE::const_iterator it = BASE::begin(); it != BASE::end(); ++it)
        if (frameIDs.find(it->id_frame) != frameIDs.end())
            newLst.push_back(*it);

    // Finally, save content in "this":
    this->swap(newLst);
}

/** Rearrange frame and feature IDs such as they start at 0 and there are no
 * gaps. */
void TSequenceFeatureObservations::compressIDs(
    std::map<TCameraPoseID, TCameraPoseID>* old2new_camIDs,
    std::map<TLandmarkID, TLandmarkID>* old2new_lmIDs)
{
    // 1st pass: Make list of translation IDs.
    std::map<TCameraPoseID, TCameraPoseID> camIDs;
    std::map<TLandmarkID, TLandmarkID> lmIDs;

    for (BASE::const_iterator it = BASE::begin(); it != BASE::end(); ++it)
    {
        const TFeatureID f_ID = it->id_feature;
        const TCameraPoseID c_ID = it->id_frame;

        if (lmIDs.find(f_ID) == lmIDs.end())
        {
            TLandmarkID nextID = lmIDs.size();  // *IMPORTANT* Separate in 2
            // lines, otherwise lmIDs[] is
            // called first (!?)
            lmIDs[f_ID] = nextID;
        }
        if (camIDs.find(c_ID) == camIDs.end())
        {
            TCameraPoseID nextID = camIDs.size();  // *IMPORTANT* Separate in 2
            // lines, otherwise camIDs[]
            // is called first (!?)
            camIDs[c_ID] = nextID;
        }
    }

    // 2nd: Create a new list with the translated IDs:
    const size_t N = BASE::size();
    TSequenceFeatureObservations newLst(N);
    for (size_t i = 0; i < N; ++i)
    {
        newLst[i].id_feature = lmIDs[(*this)[i].id_feature];
        newLst[i].id_frame = camIDs[(*this)[i].id_frame];
        newLst[i].px = (*this)[i].px;
    }

    // And save that new list in "this":
    this->swap(newLst);

    // Return translations, if requested:
    if (old2new_camIDs) old2new_camIDs->swap(camIDs);
    if (old2new_lmIDs) old2new_lmIDs->swap(lmIDs);
}