regional algebra 'ra' new QSR

.gitignore

@@ -58,7 +58,7 @@ target/
 .idea/
 
 *~
-.DS_Store
+*.DS_Store*
 
 # DOC
 qsr_lib/docs/_build/

qsr_lib/CMakeLists.txt

@@ -48,6 +48,7 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(tests/qtcbs_tester.test)
   add_rostest(tests/qtccs_tester.test)
   add_rostest(tests/qtcbcs_tester.test)
+  add_rostest(tests/ra_tester.test)
   add_rostest(tests/rcc2_tester.test)
   add_rostest(tests/rcc3_tester.test)
   add_rostest(tests/rcc8_tester.test)

qsr_lib/scripts/example_extended.py

@@ -27,7 +27,7 @@ def pretty_print_world_qsr_trace(which_qsr, qsrlib_response_message):
 
 
 if __name__ == "__main__":
-    options = ["rcc2", "rcc3", "rcc8", "cardir", "qtcbs", "qtccs", "qtcbcs", "argd", "argprobd", "mos", "multiple"]
+    options = sorted(QSRlib().qsrs_registry.keys()) + ["multiple"]
     multiple = options[:]; multiple.remove("multiple"); multiple.remove("argd"); multiple.remove("argprobd")
 
     parser = argparse.ArgumentParser()
@@ -50,7 +50,7 @@ def pretty_print_world_qsr_trace(which_qsr, qsrlib_response_message):
 
     dynamic_args = {}
 
-    if which_qsr == "rcc3" or which_qsr == "rcc2":
+    if which_qsr in ["rcc2", "rcc3", "ra"]:
         dynamic_args = {which_qsr: {"quantisation_factor": args.quantisation_factor}}
         o1 = [Object_State(name="o1", timestamp=0, x=1., y=1., xsize=5., ysize=8.),
               Object_State(name="o1", timestamp=1, x=1., y=2., xsize=5., ysize=8.),

qsr_lib/src/qsrlib_qsrs/__init__.py

@@ -9,6 +9,7 @@
 from qsr_arg_prob_relations_distance import QSR_Arg_Prob_Relations_Distance
 from qsr_moving_or_stationary import QSR_Moving_or_Stationary
 from qsr_new_mwe import QSR_MWE
+from qsr_ra import QSR_RA
 
 # register new qsrs by class name below
 qsrs_registry = (QSR_RCC2,
@@ -21,4 +22,5 @@
                  QSR_Arg_Relations_Distance,
                  QSR_Arg_Prob_Relations_Distance,
                  QSR_Moving_or_Stationary,
-                 QSR_MWE)
+                 QSR_MWE,
+                 QSR_RA)

qsr_lib/src/qsrlib_qsrs/qsr_abstractclass.py

@@ -29,6 +29,7 @@ class QSR_Abstractclass(object):
     def __init__(self):
         """Constructor."""
         self._dtype_map = {"points": self._return_points,
+                           "bounding_boxes": self._return_bounding_boxes_2d,  # todo this is to handle 2D/3D and needs its own function
                            "bounding_boxes_2d": self._return_bounding_boxes_2d}
         """dict: Mapping of _dtype to methods."""
 

qsr_lib/src/qsrlib_qsrs/qsr_ra.py

@@ -0,0 +1,79 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function, division
+from numpy import isnan
+from qsrlib_qsrs.qsr_dyadic_abstractclass import QSR_Dyadic_1t_Abstractclass
+
+
+class QSR_RA(QSR_Dyadic_1t_Abstractclass):
+    """Regional Algebra.
+
+    Members:
+        * _unique_id: "ra"
+        * _all_possible_relations: ("<", ">", "m", "mi", "o", "oi", "s", "si", "d", "di", "f", "fi", "=")
+        * _dtype: "bounding_boxes"
+
+    Some explanation about the QSR. Maybe a reference if it exists.
+    """
+
+    _unique_id = "ra"
+    """str: Unique identifier name of the QSR."""
+
+    _all_possible_relations = ("<", ">", "m", "mi", "o", "oi", "s", "si", "d", "di", "f", "fi", "=")
+    """tuple: All possible relations of the QSR."""
+
+    _dtype = "bounding_boxes"
+    """str: On what kind of data the QSR works with."""
+
+    _inverse_map = {"<": ">", "m": "mi", "o": "oi", "s": "si", "d": "di", "f": "fi",
+                    ">": "<", "mi": "m", "o1": "o", "si": "s", "di": "d", "fi": "f"}
+    """dict: Inverse relations"""
+
+    def __init__(self):
+        """Constructor.
+
+        :return:
+        """
+        super(QSR_RA, self).__init__()
+
+    def _compute_qsr(self, bb1, bb2, qsr_params, **kwargs):
+        """Compute QSR value.
+
+        :param bb1: First object's bounding box.
+        :type bb2: tuple or list
+        :param bb2: Second object's bounding box.
+        :type bb2: tuple or list
+        :param qsr_params: QSR specific parameters passed in `dynamic_args`.
+        :type qsr_params: dict
+        :param kwargs: Optional further arguments.
+        :return: The computed QSR value: two/three comma separated Allen relations for 2D/3D.
+        :rtype: str
+        """
+        if len(bb1) == 4 and len(bb2) == 4:  # 2D version
+            return ",".join([self.__allen((bb1[0], bb1[2]), (bb2[0], bb2[2])),
+                             self.__allen((bb1[1], bb1[3]), (bb2[1], bb2[3]))])
+        elif len(bb1) == 6 and len(bb2) == 6:  # 3D version
+            return ",".join([self.__allen((bb1[0], bb1[3]), (bb2[0], bb2[3])),
+                             self.__allen((bb1[1], bb1[4]), (bb2[1], bb2[4])),
+                             self.__allen((bb1[2], bb1[5]), (bb2[2], bb2[5]))])
+        else:
+            raise ValueError("bb1 and bb2 must have length of 4 (2D) or 6 (3D)")
+
+    def __allen(self, i1, i2):
+        if isnan(i1).any() or isnan(i2).any():  # nan values cause dragons
+            raise ValueError("illegal 'nan' values found")
+
+        if i1[1] < i2[0]:
+            return "<"
+        if i1[1] == i2[0]:
+            return "m"
+        if i1[0] < i2[0] < i1[1] and i2[0] < i1[1] < i2[1]:
+            return "o"
+        if i1[0] == i2[0] and i1[1] < i2[1]:
+            return "s"
+        if i2[0] < i1[0] < i2[1] and i2[0] < i1[1] < i2[1]:
+            return "d"
+        if i2[0] < i1[0] < i2[1] and i1[1] == i2[1]:
+            return "f"
+        if i1[0] == i2[0] and i1[1] == i2[1]:
+            return "="
+        return self._inverse_map[self.__allen(i2, i1)]

qsr_lib/tests/data/data1_ra_defaults.txt

@@ -0,0 +1 @@
+["1.0,o1,o2,{'ra': '>,>'}", "1.0,o2,o1,{'ra': '<,<'}", "2.0,o1,o2,{'ra': '>,mi'}", "2.0,o2,o1,{'ra': '<,m'}", "3.0,o1,o2,{'ra': '>,oi'}", "3.0,o2,o1,{'ra': '<,o'}", "4.0,o1,o2,{'ra': '>,='}", "4.0,o2,o1,{'ra': '<,='}", "5.0,o1,o2,{'ra': '>,o'}", "5.0,o2,o1,{'ra': '<,oi'}", "6.0,o1,o2,{'ra': '>,m'}", "6.0,o2,o1,{'ra': '<,mi'}", "7.0,o1,o2,{'ra': '>,<'}", "7.0,o2,o1,{'ra': '<,>'}", "8.0,o1,o2,{'ra': 'mi,>'}", "8.0,o2,o1,{'ra': 'm,<'}", "9.0,o1,o2,{'ra': 'mi,mi'}", "9.0,o2,o1,{'ra': 'm,m'}", "10.0,o1,o2,{'ra': 'mi,oi'}", "10.0,o2,o1,{'ra': 'm,o'}", "11.0,o1,o2,{'ra': 'mi,='}", "11.0,o2,o1,{'ra': 'm,='}", "12.0,o1,o2,{'ra': 'mi,o'}", "12.0,o2,o1,{'ra': 'm,oi'}", "13.0,o1,o2,{'ra': 'mi,m'}", "13.0,o2,o1,{'ra': 'm,mi'}", "14.0,o1,o2,{'ra': 'mi,<'}", "14.0,o2,o1,{'ra': 'm,>'}", "15.0,o1,o2,{'ra': 'oi,>'}", "15.0,o2,o1,{'ra': 'o,<'}", "16.0,o1,o2,{'ra': 'oi,mi'}", "16.0,o2,o1,{'ra': 'o,m'}", "17.0,o1,o2,{'ra': 'oi,oi'}", "17.0,o2,o1,{'ra': 'o,o'}", "18.0,o1,o2,{'ra': 'oi,='}", "18.0,o2,o1,{'ra': 'o,='}", "19.0,o1,o2,{'ra': 'oi,o'}", "19.0,o2,o1,{'ra': 'o,oi'}", "20.0,o1,o2,{'ra': 'oi,m'}", "20.0,o2,o1,{'ra': 'o,mi'}", "21.0,o1,o2,{'ra': 'oi,<'}", "21.0,o2,o1,{'ra': 'o,>'}", "22.0,o1,o2,{'ra': '=,>'}", "22.0,o2,o1,{'ra': '=,<'}", "23.0,o1,o2,{'ra': '=,mi'}", "23.0,o2,o1,{'ra': '=,m'}", "24.0,o1,o2,{'ra': '=,oi'}", "24.0,o2,o1,{'ra': '=,o'}", "25.0,o1,o2,{'ra': '=,='}", "25.0,o2,o1,{'ra': '=,='}", "26.0,o1,o2,{'ra': '=,o'}", "26.0,o2,o1,{'ra': '=,oi'}", "27.0,o1,o2,{'ra': '=,m'}", "27.0,o2,o1,{'ra': '=,mi'}", "28.0,o1,o2,{'ra': '=,<'}", "28.0,o2,o1,{'ra': '=,>'}", "29.0,o1,o2,{'ra': 'o,>'}", "29.0,o2,o1,{'ra': 'oi,<'}", "30.0,o1,o2,{'ra': 'o,mi'}", "30.0,o2,o1,{'ra': 'oi,m'}", "31.0,o1,o2,{'ra': 'o,oi'}", "31.0,o2,o1,{'ra': 'oi,o'}", "32.0,o1,o2,{'ra': 'o,='}", "32.0,o2,o1,{'ra': 'oi,='}", "33.0,o1,o2,{'ra': 'o,o'}", "33.0,o2,o1,{'ra': 'oi,oi'}", "34.0,o1,o2,{'ra': 'o,m'}", "34.0,o2,o1,{'ra': 'oi,mi'}", "35.0,o1,o2,{'ra': 'o,<'}", "35.0,o2,o1,{'ra': 'oi,>'}", "36.0,o1,o2,{'ra': 'm,>'}", "36.0,o2,o1,{'ra': 'mi,<'}", "37.0,o1,o2,{'ra': 'm,mi'}", "37.0,o2,o1,{'ra': 'mi,m'}", "38.0,o1,o2,{'ra': 'm,oi'}", "38.0,o2,o1,{'ra': 'mi,o'}", "39.0,o1,o2,{'ra': 'm,='}", "39.0,o2,o1,{'ra': 'mi,='}", "40.0,o1,o2,{'ra': 'm,o'}", "40.0,o2,o1,{'ra': 'mi,oi'}", "41.0,o1,o2,{'ra': 'm,m'}", "41.0,o2,o1,{'ra': 'mi,mi'}", "42.0,o1,o2,{'ra': 'm,<'}", "42.0,o2,o1,{'ra': 'mi,>'}", "43.0,o1,o2,{'ra': '<,>'}", "43.0,o2,o1,{'ra': '>,<'}", "44.0,o1,o2,{'ra': '<,mi'}", "44.0,o2,o1,{'ra': '>,m'}", "45.0,o1,o2,{'ra': '<,oi'}", "45.0,o2,o1,{'ra': '>,o'}", "46.0,o1,o2,{'ra': '<,='}", "46.0,o2,o1,{'ra': '>,='}", "47.0,o1,o2,{'ra': '<,o'}", "47.0,o2,o1,{'ra': '>,oi'}", "48.0,o1,o2,{'ra': '<,m'}", "48.0,o2,o1,{'ra': '>,mi'}", "49.0,o1,o2,{'ra': '<,<'}", "49.0,o2,o1,{'ra': '>,>'}"]

qsr_lib/tests/data/data1_ra_qsrs_for_global_namespace.txt

@@ -0,0 +1 @@
+["1.0,o2,o1,{'ra': '<,<'}", "2.0,o2,o1,{'ra': '<,m'}", "3.0,o2,o1,{'ra': '<,o'}", "4.0,o2,o1,{'ra': '<,='}", "5.0,o2,o1,{'ra': '<,oi'}", "6.0,o2,o1,{'ra': '<,mi'}", "7.0,o2,o1,{'ra': '<,>'}", "8.0,o2,o1,{'ra': 'm,<'}", "9.0,o2,o1,{'ra': 'm,m'}", "10.0,o2,o1,{'ra': 'm,o'}", "11.0,o2,o1,{'ra': 'm,='}", "12.0,o2,o1,{'ra': 'm,oi'}", "13.0,o2,o1,{'ra': 'm,mi'}", "14.0,o2,o1,{'ra': 'm,>'}", "15.0,o2,o1,{'ra': 'o,<'}", "16.0,o2,o1,{'ra': 'o,m'}", "17.0,o2,o1,{'ra': 'o,o'}", "18.0,o2,o1,{'ra': 'o,='}", "19.0,o2,o1,{'ra': 'o,oi'}", "20.0,o2,o1,{'ra': 'o,mi'}", "21.0,o2,o1,{'ra': 'o,>'}", "22.0,o2,o1,{'ra': '=,<'}", "23.0,o2,o1,{'ra': '=,m'}", "24.0,o2,o1,{'ra': '=,o'}", "25.0,o2,o1,{'ra': '=,='}", "26.0,o2,o1,{'ra': '=,oi'}", "27.0,o2,o1,{'ra': '=,mi'}", "28.0,o2,o1,{'ra': '=,>'}", "29.0,o2,o1,{'ra': 'oi,<'}", "30.0,o2,o1,{'ra': 'oi,m'}", "31.0,o2,o1,{'ra': 'oi,o'}", "32.0,o2,o1,{'ra': 'oi,='}", "33.0,o2,o1,{'ra': 'oi,oi'}", "34.0,o2,o1,{'ra': 'oi,mi'}", "35.0,o2,o1,{'ra': 'oi,>'}", "36.0,o2,o1,{'ra': 'mi,<'}", "37.0,o2,o1,{'ra': 'mi,m'}", "38.0,o2,o1,{'ra': 'mi,o'}", "39.0,o2,o1,{'ra': 'mi,='}", "40.0,o2,o1,{'ra': 'mi,oi'}", "41.0,o2,o1,{'ra': 'mi,mi'}", "42.0,o2,o1,{'ra': 'mi,>'}", "43.0,o2,o1,{'ra': '>,<'}", "44.0,o2,o1,{'ra': '>,m'}", "45.0,o2,o1,{'ra': '>,o'}", "46.0,o2,o1,{'ra': '>,='}", "47.0,o2,o1,{'ra': '>,oi'}", "48.0,o2,o1,{'ra': '>,mi'}", "49.0,o2,o1,{'ra': '>,>'}"]

qsr_lib/tests/data/data1_ra_qsrs_for_qsr_namespace.txt

@@ -0,0 +1 @@
+["1.0,o1,o2,{'ra': '>,>'}", "2.0,o1,o2,{'ra': '>,mi'}", "3.0,o1,o2,{'ra': '>,oi'}", "4.0,o1,o2,{'ra': '>,='}", "5.0,o1,o2,{'ra': '>,o'}", "6.0,o1,o2,{'ra': '>,m'}", "7.0,o1,o2,{'ra': '>,<'}", "8.0,o1,o2,{'ra': 'mi,>'}", "9.0,o1,o2,{'ra': 'mi,mi'}", "10.0,o1,o2,{'ra': 'mi,oi'}", "11.0,o1,o2,{'ra': 'mi,='}", "12.0,o1,o2,{'ra': 'mi,o'}", "13.0,o1,o2,{'ra': 'mi,m'}", "14.0,o1,o2,{'ra': 'mi,<'}", "15.0,o1,o2,{'ra': 'oi,>'}", "16.0,o1,o2,{'ra': 'oi,mi'}", "17.0,o1,o2,{'ra': 'oi,oi'}", "18.0,o1,o2,{'ra': 'oi,='}", "19.0,o1,o2,{'ra': 'oi,o'}", "20.0,o1,o2,{'ra': 'oi,m'}", "21.0,o1,o2,{'ra': 'oi,<'}", "22.0,o1,o2,{'ra': '=,>'}", "23.0,o1,o2,{'ra': '=,mi'}", "24.0,o1,o2,{'ra': '=,oi'}", "25.0,o1,o2,{'ra': '=,='}", "26.0,o1,o2,{'ra': '=,o'}", "27.0,o1,o2,{'ra': '=,m'}", "28.0,o1,o2,{'ra': '=,<'}", "29.0,o1,o2,{'ra': 'o,>'}", "30.0,o1,o2,{'ra': 'o,mi'}", "31.0,o1,o2,{'ra': 'o,oi'}", "32.0,o1,o2,{'ra': 'o,='}", "33.0,o1,o2,{'ra': 'o,o'}", "34.0,o1,o2,{'ra': 'o,m'}", "35.0,o1,o2,{'ra': 'o,<'}", "36.0,o1,o2,{'ra': 'm,>'}", "37.0,o1,o2,{'ra': 'm,mi'}", "38.0,o1,o2,{'ra': 'm,oi'}", "39.0,o1,o2,{'ra': 'm,='}", "40.0,o1,o2,{'ra': 'm,o'}", "41.0,o1,o2,{'ra': 'm,m'}", "42.0,o1,o2,{'ra': 'm,<'}", "43.0,o1,o2,{'ra': '<,>'}", "44.0,o1,o2,{'ra': '<,mi'}", "45.0,o1,o2,{'ra': '<,oi'}", "46.0,o1,o2,{'ra': '<,='}", "47.0,o1,o2,{'ra': '<,o'}", "48.0,o1,o2,{'ra': '<,m'}", "49.0,o1,o2,{'ra': '<,<'}"]

qsr_lib/tests/ra_tester.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+from __future__ import print_function, division
+import sys
+from abstractclass_unittest_dyadic import Abstractclass_Unittest_Dyadic
+
+
+class RA_Test(Abstractclass_Unittest_Dyadic):
+    def __init__(self, *args):
+        super(RA_Test, self).__init__(*args)
+        self._unique_id = "ra"
+
+    def test_defaults(self):
+        self.assertItemsEqual(*self.defaults("data1", "data1_ra_defaults.txt"))
+
+    def test_qsrs_for_global_namespace(self):
+        self.assertItemsEqual(*self.qsrs_for_global_namespace("data1", "data1_ra_qsrs_for_global_namespace.txt"))
+
+    def test_qsrs_for_qsr_namespace(self):
+        self.assertItemsEqual(*self.qsrs_for_qsr_namespace("data1", "data1_ra_qsrs_for_qsr_namespace.txt"))
+        self.assertItemsEqual(*self.qsrs_for_qsr_namespace_over_global_namespace("data1",
+                                                                                 "data1_ra_qsrs_for_qsr_namespace.txt"))
+
+    def test_with_bounding_boxes(self):
+        self.assertItemsEqual(*self.defaults("data2", "data2_ra_defaults.txt"))
+
+    def test_without_bounding_boxes(self):
+        self.assertItemsEqual(*self.defaults("data3", "data3_ra_defaults.txt"))
+
+    def test_floats(self):
+        self.assertItemsEqual(*self.defaults("data4", "data4_ra_defaults.txt"))
+
+
+if __name__ == '__main__':
+    import rosunit
+    rosunit.unitrun("qsr_lib", "ra_test", RA_Test, sys.argv)

qsr_lib/tests/ra_tester.test

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="ra_tester" pkg="qsr_lib" type="ra_tester.py" />
+</launch>

qsr_lib/tests/unittests_generate_ground_truth.py

@@ -88,7 +88,7 @@ def pretty_print_world_qsr_trace(which_qsr, qsrlib_response_message):
 
     #### dyadic (except argd and argprobd, see below for these two
     # dynamic_args = {"for_all_qsrs": {"qsrs_for": [("o2", "o1")]}}  # qsrs_for_global_namespace
-    # dynamic_args = {args.qsr: {"qsrs_for": [("o1", "o2")]}}  # qsrs_for_qsr_namespace, qsrs_for_qsr_namespace_over_global_namespace
+    dynamic_args = {args.qsr: {"qsrs_for": [("o1", "o2")]}}  # qsrs_for_qsr_namespace, qsrs_for_qsr_namespace_over_global_namespace
     # dynamic_args = {args.qsr: {"qsrs_for": [("o1", "o2")], "quantisation_factor": 2.0}}  # custom
 
     #### qtcs special case