replaced rcc3 with rcc4

Author: Yiannis Gatsoulis

qsr_lib/CMakeLists.txt

@@ -49,7 +49,7 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(tests/qtccs_tester.test)
   add_rostest(tests/qtcbcs_tester.test)
   add_rostest(tests/rcc2_tester.test)
-  add_rostest(tests/rcc3_tester.test)
+  add_rostest(tests/rcc4_tester.test)
   add_rostest(tests/rcc8_tester.test)
   add_rostest(tests/multiple_tester.test)
 

qsr_lib/src/qsrlib_qsrs/__init__.py

@@ -1,5 +1,5 @@
 from qsr_rcc2_rectangle_bounding_boxes_2d import QSR_RCC2_Rectangle_Bounding_Boxes_2D
-from qsr_rcc3_rectangle_bounding_boxes_2d import QSR_RCC3_Rectangle_Bounding_Boxes_2D
+from qsr_rcc4 import QSR_RCC4
 from qsr_rcc8_rectangle_bounding_boxes_2d import QSR_RCC8_Rectangle_Bounding_Boxes_2D
 from qsr_cardinal_direction_bounding_boxes_centroid_2d import QSR_Cardinal_Direction_Bounding_Boxes_Centroid_2D
 from qsr_qtc_b_simplified import QSR_QTC_B_Simplified
@@ -12,7 +12,7 @@
 
 # register new qsrs by class name below
 qsrs_registry = (QSR_RCC2_Rectangle_Bounding_Boxes_2D,
-                 QSR_RCC3_Rectangle_Bounding_Boxes_2D,
+                 QSR_RCC4,
                  QSR_RCC8_Rectangle_Bounding_Boxes_2D,
                  QSR_Cardinal_Direction_Bounding_Boxes_Centroid_2D,
                  QSR_QTC_B_Simplified,

qsr_lib/src/qsrlib_qsrs/qsr_rcc3_rectangle_bounding_boxes_2d.py

@@ -0,0 +1,26 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function, division
+from qsrlib_qsrs.qsr_rcc_abstractclass import QSR_RCC_Abstractclass
+
+
+class QSR_RCC4(QSR_RCC_Abstractclass):
+    """Computes symmetrical RCC4 relations"""
+
+    _unique_id = "rcc4"
+
+    _all_possible_relations = ("dc", "po", "pp", "ppi")
+
+    __mapping_from_rcc8 = {"dc": "dc",
+                           "ec": "po",
+                           "po": "po",
+                           "tpp": "pp",
+                           "ntpp": "pp",
+                           "eq": "pp",
+                           "tppi": "ppi",
+                           "ntppi": "ppi"}
+
+    def __init__(self):
+        super(QSR_RCC4, self).__init__()
+
+    def _convert_to_requested_rcc_type(self, qsr):
+        return self.__mapping_from_rcc8[qsr]

qsr_lib/src/qsrlib_qsrs/qsr_rcc4.py

@@ -8,3 +8,23 @@ and random float width and length (`random.randint(3, 6)`) (i.e. bounding boxes
  but no width and length are given (i.e. no bounding boxes are provided).
 * `data4.csv`: A set of 10K random float 2D-points (`random.uniform(0, 50)`) for 3 objects ("o1", "o2", "o3")
 and random float width and length (`random.randint(3, 6)`) (i.e. bounding boxes are provided).
+
+### Running the tests
+
+```bash
+rosrun qsr_lib unittests_generate_ground_truth.py -i <world name> -o <output filename> <qsr>
+```
+
+E.g.
+```bash
+rosrun qsr_lib unittests_generate_ground_truth.py -i data1 -o qsr_lib/tests/data/data1_rcc4_defaults.txt rcc4
+```
+
+`-i` options: data1 | data2 | data3 | data4
+
+#### Types of generated data
+
+* Defaults. E.g.
+```bash
+rosrun qsr_lib unittests_generate_ground_truth.py -i data1 -o qsr_lib/tests/data/data1_rcc4_defaults.txt rcc4
+```