84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/**
|
|
* @file VSLAMFactor.cpp
|
|
* @brief A non-linear factor specialized to the Visual SLAM problem
|
|
* @author Alireza Fathi
|
|
*/
|
|
|
|
#include "VSLAMConfig.h"
|
|
#include "VSLAMFactor.h"
|
|
#include "Pose3.h"
|
|
#include "SimpleCamera.h"
|
|
|
|
using namespace std;
|
|
namespace gtsam{
|
|
|
|
/* ************************************************************************* */
|
|
VSLAMFactor::VSLAMFactor(const Vector& z, double sigma, int cn, int ln, const Cal3_S2 &K)
|
|
: NonlinearFactor<VSLAMConfig>(z, sigma)
|
|
{
|
|
cameraFrameNumber_ = cn;
|
|
landmarkNumber_ = ln;
|
|
char temp[100];
|
|
temp[0] = 0;
|
|
sprintf(temp, "x%d", cameraFrameNumber_);
|
|
cameraFrameName_ = string(temp);
|
|
temp[0] = 0;
|
|
sprintf(temp, "l%d", landmarkNumber_);
|
|
landmarkName_ = string(temp);
|
|
K_ = K;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void VSLAMFactor::print(const std::string& s) const {
|
|
printf("%s %s %s\n", s.c_str(), cameraFrameName_.c_str(), landmarkName_.c_str());
|
|
gtsam::print(this->z_, s+".z");
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
bool VSLAMFactor::equals(const VSLAMFactor& p, double tol) const {
|
|
if (&p == NULL) return false;
|
|
if (cameraFrameNumber_ != p.cameraFrameNumber_ || landmarkNumber_ != p.landmarkNumber_) return false;
|
|
if (!equal_with_abs_tol(this->z_,p.z_,tol)) return false;
|
|
return true;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Vector VSLAMFactor::predict(const VSLAMConfig& c) const {
|
|
Pose3 pose = c.cameraPose(cameraFrameNumber_);
|
|
Point3 landmark = c.landmarkPoint(landmarkNumber_);
|
|
return project(SimpleCamera(K_,pose), landmark).vector();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Vector VSLAMFactor::error_vector(const VSLAMConfig& c) const {
|
|
// Right-hand-side b = (z - h(x))/sigma
|
|
Vector h = predict(c);
|
|
return (this->z_ - h);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
LinearFactor::shared_ptr VSLAMFactor::linearize(const VSLAMConfig& c) const
|
|
{
|
|
// get arguments from config
|
|
Pose3 pose = c.cameraPose(cameraFrameNumber_);
|
|
Point3 landmark = c.landmarkPoint(landmarkNumber_);
|
|
|
|
SimpleCamera camera(K_,pose);
|
|
|
|
// Jacobians
|
|
Matrix Dh1 = Dproject_pose(camera, landmark);
|
|
Matrix Dh2 = Dproject_point(camera, landmark);
|
|
|
|
// Right-hand-side b = (z - h(x))
|
|
Vector h = project(camera, landmark).vector();
|
|
Vector b = this->z_ - h;
|
|
|
|
// Make new linearfactor, divide by sigma
|
|
LinearFactor::shared_ptr
|
|
p(new LinearFactor(cameraFrameName_, Dh1, landmarkName_, Dh2, b, this->sigma_));
|
|
return p;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
} // namespace gtsam
|