92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
/**
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* @file VSLAMFactor.cpp
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* @brief A non-linear factor specialized to the Visual SLAM problem
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* @author Alireza Fathi
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*/
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#include "VSLAMConfig.h"
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#include "VSLAMFactor.h"
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#include "Pose3.h"
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#include "SimpleCamera.h"
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using namespace std;
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namespace gtsam{
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/* ************************************************************************* */
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VSLAMFactor::VSLAMFactor() {
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/// Arbitrary values
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cameraFrameNumber_ = 111;
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landmarkNumber_ = 222;
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cameraFrameName_ = symbol('x',cameraFrameNumber_);
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landmarkName_ = symbol('l',landmarkNumber_);
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keys_.push_back(cameraFrameName_);
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keys_.push_back(landmarkName_);
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K_ = shared_ptrK(new Cal3_S2(444,555,666,777,888));
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}
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/* ************************************************************************* */
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VSLAMFactor::VSLAMFactor(const Point2& z, double sigma, int cn, int ln, const shared_ptrK &K)
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: NonlinearFactor<VSLAMConfig>(z.vector(), sigma)
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{
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cameraFrameNumber_ = cn;
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landmarkNumber_ = ln;
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cameraFrameName_ = symbol('x',cameraFrameNumber_);
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landmarkName_ = symbol('l',landmarkNumber_);
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keys_.push_back(cameraFrameName_);
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keys_.push_back(landmarkName_);
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K_ = K;
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}
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/* ************************************************************************* */
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void VSLAMFactor::print(const std::string& s) const {
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printf("%s %s %s\n", s.c_str(), cameraFrameName_.c_str(), landmarkName_.c_str());
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gtsam::print(this->z_, s+".z");
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}
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/* ************************************************************************* */
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bool VSLAMFactor::equals(const VSLAMFactor& p, double tol) const {
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if (&p == NULL) return false;
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if (cameraFrameNumber_ != p.cameraFrameNumber_ || landmarkNumber_ != p.landmarkNumber_) return false;
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if (!equal_with_abs_tol(this->z_,p.z_,tol)) return false;
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return true;
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}
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/* ************************************************************************* */
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Vector VSLAMFactor::predict(const VSLAMConfig& c) const {
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Pose3 pose = c.cameraPose(cameraFrameNumber_);
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Point3 landmark = c.landmarkPoint(landmarkNumber_);
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return project(SimpleCamera(*K_,pose), landmark).vector();
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}
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/* ************************************************************************* */
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Vector VSLAMFactor::error_vector(const VSLAMConfig& c) const {
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// Right-hand-side b = (z - h(x))/sigma
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Vector h = predict(c);
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return (this->z_ - h);
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}
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/* ************************************************************************* */
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GaussianFactor::shared_ptr VSLAMFactor::linearize(const VSLAMConfig& c) const
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{
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// get arguments from config
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Pose3 pose = c.cameraPose(cameraFrameNumber_);
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Point3 landmark = c.landmarkPoint(landmarkNumber_);
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SimpleCamera camera(*K_,pose);
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// Jacobians
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Matrix Dh1 = Dproject_pose(camera, landmark);
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Matrix Dh2 = Dproject_point(camera, landmark);
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// Right-hand-side b = (z - h(x))
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Vector h = project(camera, landmark).vector();
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Vector b = this->z_ - h;
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// Make new linearfactor, divide by sigma
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GaussianFactor::shared_ptr
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p(new GaussianFactor(cameraFrameName_, Dh1, landmarkName_, Dh2, b, this->sigma_));
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return p;
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}
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/* ************************************************************************* */
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} // namespace gtsam
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