test.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/poses/CPosePDFSOG.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/system/os.h>
#include <mrpt/serialization/CArchive.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::opengl;
using namespace mrpt::gui;
using namespace mrpt::io;
using namespace mrpt::system;
using namespace mrpt::serialization;
using namespace std;
 
/* ------------------------------------------------------------------------
                                        Test_SoG_Merge
   ------------------------------------------------------------------------ */
void Test_SoG_Merge()
{
        CPosePDFSOG pdf;
 
        CPosePDFSOG::TGaussianMode m;
        m.mean = CPose2D(1.1, -0.1, DEG2RAD(-2));
 
        m.cov.unit();
        m.cov(0, 0) = m.cov(1, 1) = square(0.1);
        m.cov(2, 2) = square(DEG2RAD(2));
        m.log_w = 0;
 
        pdf.clear();
        pdf.push_back(m);
 
        m.mean = CPose2D(1.1, 0.1, DEG2RAD(2));
        pdf.push_back(m);
 
        m.mean = CPose2D(2, 0, DEG2RAD(20));
        pdf.push_back(m);
 
        cout << "Initial PDF: mean: " << pdf.getMeanVal() << endl;
        cout << pdf.getCovariance() << endl << endl;
 
#if MRPT_HAS_WXWIDGETS
        CDisplayWindow3D win_before("Before merge");
        CDisplayWindow3D win_after("After merge");
#endif
 
        {
                COpenGLScene scene;
                CSetOfObjects::Ptr o = mrpt::make_aligned_shared<CSetOfObjects>();
                pdf.getAs3DObject(o);
                scene.insert(o);
                scene.insert(
                        mrpt::make_aligned_shared<CGridPlaneXY>(-5, 5, -5, 5, 0, 1));
 
                CFileGZOutputStream f("sog_before.3Dscene");
                archiveFrom(f) << scene;
 
#if MRPT_HAS_WXWIDGETS
                COpenGLScene::Ptr sc = win_before.get3DSceneAndLock();
                *sc = scene;
                win_before.unlockAccess3DScene();
                win_before.setCameraZoom(5);
                win_before.setCameraPointingToPoint(1, 0, 0);
                win_before.forceRepaint();
#endif
        }
 
        cout << "Merging...";
        pdf.mergeModes(0.9, true);
        cout << " # modes after: " << pdf.size() << endl;
 
        cout << "Final PDF: mean: " << pdf.getMeanVal() << endl;
        cout << pdf.getCovariance() << endl << endl;
 
        {
                COpenGLScene scene;
                CSetOfObjects::Ptr o = mrpt::make_aligned_shared<CSetOfObjects>();
                pdf.getAs3DObject(o);
                scene.insert(o);
                scene.insert(
                        mrpt::make_aligned_shared<CGridPlaneXY>(-5, 5, -5, 5, 0, 1));
 
                CFileGZOutputStream f("sog_after.3Dscene");
                archiveFrom(f) << scene;
 
#if MRPT_HAS_WXWIDGETS
                COpenGLScene::Ptr sc = win_after.get3DSceneAndLock();
                *sc = scene;
                win_after.unlockAccess3DScene();
                win_after.setCameraZoom(5);
                win_after.setCameraPointingToPoint(1, 0, 0);
                win_after.forceRepaint();
#endif
        }
 
#if MRPT_HAS_WXWIDGETS
        cout << "Push any key to exit..." << endl;
        mrpt::system::os::getch();
#endif
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main(int argc, char** argv)
{
        try
        {
                Test_SoG_Merge();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "Exception: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!");
                return -1;
        }
}