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Merge pull request #187 from yianni/rcc4
Rcc4
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‎docs/rsts/handwritten/qsrs/qsrs.rst

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@@ -13,7 +13,7 @@ Supported QSRs
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qtccs
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qtcbcs
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rcc2
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rcc3
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rcc4
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rcc5
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rcc8
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@@ -41,7 +41,7 @@ Currently, the following QSRs are supported:
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+----------------+---------------------------------------------------+---------------------------------------------------------------------------------------------------------+----------------+
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| **rcc2** | Region Connection Calculus 2 | :doc:`descr. <rcc2>` \| :mod:`api <qsrlib_qsrs.qsr_rcc2>` | [2]_ [3]_ |
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+----------------+---------------------------------------------------+---------------------------------------------------------------------------------------------------------+----------------+
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| **rcc3** | Region Connection Calculus 3 | :doc:`descr. <rcc3>` \| :mod:`api <qsrlib_qsrs.qsr_rcc3>` | [2]_ [3]_ |
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| **rcc4** | Region Connection Calculus 4 | :doc:`descr. <rcc4>` \| :mod:`api <qsrlib_qsrs.qsr_rcc4>` | [2]_ [3]_ |
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+----------------+---------------------------------------------------+---------------------------------------------------------------------------------------------------------+----------------+
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| **rcc5** | Region Connection Calculus 5 | :doc:`descr. <rcc5>` \| :mod:`api <qsrlib_qsrs.qsr_rcc5>` | [2]_ [3]_ |
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+----------------+---------------------------------------------------+---------------------------------------------------------------------------------------------------------+----------------+

‎docs/rsts/handwritten/qsrs/rcc3.rst

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‎docs/rsts/handwritten/qsrs/rcc4.rst

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Region Connection Calculus 4
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============================
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The Region Connection Calculus (RCC) [1]_ [2]_ is intended to serve for qualitative spatial representation and reasoning.
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RCC abstractly describes regions (in Euclidean space, or in a topological space) by their possible relations to
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each other.
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RCC4 consists of 4 basic relations that are possible between two regions; it is a stripped down version
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of :doc:`RCC8 <rcc8>`. The mapping from RCC8 to RCC4 can be seen below:
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+------------+------------+
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| RCC8 | RCC4 +
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+============+============+
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| dc | dc |
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+------------+------------+
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| ec | po |
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+------------+ +
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| po | |
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+------------+------------+
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| tpp | pp |
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+------------+ +
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| ntpp | |
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+------------+ +
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| eq | |
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+------------+------------+
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| tppi | ppi |
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+------------+ +
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| ntppi | |
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+------------+------------+
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Relations
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---------
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All the possible RCC4 relations between a blue object X and a red object Y are:
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+-------------------+------------------------------------------------+-------------------------------------------------+
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| Relation | Illustration | Interpretation +
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+===================+================================================+=================================================+
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| X **dc** Y | .. image:: ../images/rcc8_dc.png | X is disconnected from Y. |
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+-------------------+------------------------------------------------+-------------------------------------------------+
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| X **po** Y | .. image:: ../images/rcc8_ec.png | X is partially overlapping Y. |
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+ +------------------------------------------------+ +
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| | .. image:: ../images/rcc8_po.png | |
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+-------------------+------------------------------------------------+-------------------------------------------------+
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| X **pp** Y | .. image:: ../images/rcc8_tpp.png | X is a proper part of Y. |
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+ +------------------------------------------------+ +
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| | .. image:: ../images/rcc8_ntpp.png | |
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+ +------------------------------------------------+ +
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| | .. image:: ../images/rcc8_eq.png | |
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+-------------------+------------------------------------------------+-------------------------------------------------+
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| X **ppi** Y | .. image:: ../images/rcc8_tppi.png | X is a proper part inverse of Y. |
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+ +------------------------------------------------+ +
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| | .. image:: ../images/rcc8_ntppi.png | |
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+-------------------+------------------------------------------------+-------------------------------------------------+
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API
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---
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The API can be found :mod:`here <qsrlib_qsrs.qsr_rcc4>`.
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References
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----------
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.. [1] Randell, D. A., Cui, Z. and Cohn, A. G.: A spatial logic based on regions and connection, Proc. 3rd Int. Conf. on Knowledge Representation and Reasoning, Morgan Kaufmann, San Mateo, pp. 165–176, 1992. `(link) <http://wenxion.net/ac/randell92spatial.pdf>`_
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.. [2] Anthony G. Cohn, Brandon Bennett, John Gooday, Micholas Mark Gotts: Qualitative Spatial Representation and Reasoning with the Region Connection Calculus. GeoInformatica, 1, 275–316, 1997.

‎docs/rsts/handwritten/qsrs/rcc5.rst

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@@ -12,19 +12,19 @@ of :doc:`RCC8 <rcc8>`. The mapping from RCC8 to RCC5 can be seen below:
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+------------+------------+
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| RCC8 | RCC5 +
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+============+============+
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| dc | dr |
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| dc | dr |
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+------------+ +
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| ec | |
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+------------+------------+
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| po | po |
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+------------+------------+
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| tpp | pp |
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| tpp | pp |
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+------------+ +
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| ntpp | |
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+------------+------------+
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| eq | eq |
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+------------+------------+
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| tppi | ppi |
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| tppi | ppi |
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+------------+ +
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| ntppi | |
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+------------+------------+

‎qsr_lib/CMakeLists.txt

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add_rostest(tests/ra_tester.test)
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add_rostest(tests/rcc2_tester.test)
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add_rostest(tests/rcc3_tester.test)
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add_rostest(tests/rcc4_tester.test)
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add_rostest(tests/rcc5_tester.test)
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add_rostest(tests/rcc8_tester.test)
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# add_rostest(tests/multiple_tester.test)

‎qsr_lib/src/qsrlib_qsrs/__init__.py

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from qsr_rcc2 import QSR_RCC2
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from qsr_rcc3_rectangle_bounding_boxes_2d import QSR_RCC3_Rectangle_Bounding_Boxes_2D
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from qsr_rcc4 import QSR_RCC4
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from qsr_rcc5 import QSR_RCC5
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from qsr_rcc8 import QSR_RCC8
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from qsr_cardinal_direction import QSR_Cardinal_Direction
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# register new qsrs by class name below
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qsrs_registry = (QSR_RCC2,
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QSR_RCC3_Rectangle_Bounding_Boxes_2D,
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QSR_RCC4,
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QSR_RCC5,
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QSR_RCC8,
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QSR_Cardinal_Direction,

‎qsr_lib/src/qsrlib_qsrs/qsr_rcc3_rectangle_bounding_boxes_2d.py

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class QSR_RCC3_Rectangle_Bounding_Boxes_2D(QSR_RCC_Abstractclass):
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"""RCC3 relations.
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.. warning::
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RCC3 is deprecated. Use RCC4 instead.
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Values of the abstract properties
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* **_unique_id** = "rcc3"
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* **_all_possible_relations** = ("dc", "po", "o")

‎qsr_lib/src/qsrlib_qsrs/qsr_rcc4.py

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# -*- coding: utf-8 -*-
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from __future__ import print_function, division
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from qsrlib_qsrs.qsr_rcc_abstractclass import QSR_RCC_Abstractclass
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class QSR_RCC4(QSR_RCC_Abstractclass):
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"""Computes symmetrical RCC4 relations"""
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_unique_id = "rcc4"
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_all_possible_relations = ("dc", "po", "pp", "ppi")
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__mapping_from_rcc8 = {"dc": "dc",
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"ec": "po",
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"po": "po",
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"tpp": "pp",
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"ntpp": "pp",
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"eq": "pp",
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"tppi": "ppi",
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"ntppi": "ppi"}
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def __init__(self):
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super(QSR_RCC4, self).__init__()
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def _convert_to_requested_rcc_type(self, qsr):
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return self.__mapping_from_rcc8[qsr]

‎qsr_lib/tests/data/README.md

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but no width and length are given (i.e. no bounding boxes are provided).
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* `data4.csv`: A set of 10K random float 2D-points (`random.uniform(0, 50)`) for 3 objects ("o1", "o2", "o3")
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and random float width and length (`random.randint(3, 6)`) (i.e. bounding boxes are provided).
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### Running the tests
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```bash
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rosrun qsr_lib unittests_generate_ground_truth.py -i <world name> -o <output filename> <qsr>
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```
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E.g.
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```bash
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rosrun qsr_lib unittests_generate_ground_truth.py -i data1 -o qsr_lib/tests/data/data1_rcc4_defaults.txt rcc4
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```
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`-i` options: data1 | data2 | data3 | data4
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#### Types of generated data
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* Defaults. E.g.
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```bash
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rosrun qsr_lib unittests_generate_ground_truth.py -i data1 -o qsr_lib/tests/data/data1_rcc4_defaults.txt rcc4
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```

‎qsr_lib/tests/data/data1_rcc4_custom.txt

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["1.0,o1,o2,{'rcc4': 'po'}", "2.0,o1,o2,{'rcc4': 'po'}", "3.0,o1,o2,{'rcc4': 'po'}", "4.0,o1,o2,{'rcc4': 'po'}", "5.0,o1,o2,{'rcc4': 'po'}", "6.0,o1,o2,{'rcc4': 'po'}", "7.0,o1,o2,{'rcc4': 'po'}", "8.0,o1,o2,{'rcc4': 'po'}", "9.0,o1,o2,{'rcc4': 'po'}", "10.0,o1,o2,{'rcc4': 'po'}", "11.0,o1,o2,{'rcc4': 'po'}", "12.0,o1,o2,{'rcc4': 'po'}", "13.0,o1,o2,{'rcc4': 'po'}", "14.0,o1,o2,{'rcc4': 'po'}", "15.0,o1,o2,{'rcc4': 'po'}", "16.0,o1,o2,{'rcc4': 'po'}", "17.0,o1,o2,{'rcc4': 'po'}", "18.0,o1,o2,{'rcc4': 'po'}", "19.0,o1,o2,{'rcc4': 'po'}", "20.0,o1,o2,{'rcc4': 'po'}", "21.0,o1,o2,{'rcc4': 'po'}", "22.0,o1,o2,{'rcc4': 'po'}", "23.0,o1,o2,{'rcc4': 'po'}", "24.0,o1,o2,{'rcc4': 'po'}", "25.0,o1,o2,{'rcc4': 'pp'}", "26.0,o1,o2,{'rcc4': 'po'}", "27.0,o1,o2,{'rcc4': 'po'}", "28.0,o1,o2,{'rcc4': 'po'}", "29.0,o1,o2,{'rcc4': 'po'}", "30.0,o1,o2,{'rcc4': 'po'}", "31.0,o1,o2,{'rcc4': 'po'}", "32.0,o1,o2,{'rcc4': 'po'}", "33.0,o1,o2,{'rcc4': 'po'}", "34.0,o1,o2,{'rcc4': 'po'}", "35.0,o1,o2,{'rcc4': 'po'}", "36.0,o1,o2,{'rcc4': 'po'}", "37.0,o1,o2,{'rcc4': 'po'}", "38.0,o1,o2,{'rcc4': 'po'}", "39.0,o1,o2,{'rcc4': 'po'}", "40.0,o1,o2,{'rcc4': 'po'}", "41.0,o1,o2,{'rcc4': 'po'}", "42.0,o1,o2,{'rcc4': 'po'}", "43.0,o1,o2,{'rcc4': 'po'}", "44.0,o1,o2,{'rcc4': 'po'}", "45.0,o1,o2,{'rcc4': 'po'}", "46.0,o1,o2,{'rcc4': 'po'}", "47.0,o1,o2,{'rcc4': 'po'}", "48.0,o1,o2,{'rcc4': 'po'}", "49.0,o1,o2,{'rcc4': 'po'}"]

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