109 lines
3.0 KiB
C++
109 lines
3.0 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010-2014, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file EssentialMatrixConstraint.h
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* @author Frank Dellaert
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* @author Pablo Alcantarilla
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* @date Jan 5, 2014
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**/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/geometry/EssentialMatrix.h>
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namespace gtsam {
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/**
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* Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
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* @ingroup slam
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*/
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class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactorN<Pose3, Pose3> {
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private:
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typedef EssentialMatrixConstraint This;
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typedef NoiseModelFactorN<Pose3, Pose3> Base;
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EssentialMatrix measuredE_; /** The measurement is an essential matrix */
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public:
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// shorthand for a smart pointer to a factor
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typedef boost::shared_ptr<EssentialMatrixConstraint> shared_ptr;
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/** default constructor - only use for serialization */
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EssentialMatrixConstraint() {
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}
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/**
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* Constructor
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* @param key1 key for first pose
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* @param key2 key for second pose
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* @param measuredE measured EssentialMatrix
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* @param model noise model, 5D !
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*/
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EssentialMatrixConstraint(Key key1, Key key2,
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const EssentialMatrix& measuredE, const SharedNoiseModel& model) :
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Base(model, key1, key2), measuredE_(measuredE) {
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}
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~EssentialMatrixConstraint() override {
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}
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/// @return a deep copy of this factor
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gtsam::NonlinearFactor::shared_ptr clone() const override {
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return boost::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this)));
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}
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/** implement functions needed for Testable */
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/** print */
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void print(const std::string& s = "",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
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/** equals */
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bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
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/** implement functions needed to derive from Factor */
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/** vector of errors */
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Vector evaluateError(const Pose3& p1, const Pose3& p2,
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OptionalMatrixType Hp1 = OptionalNone, //
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OptionalMatrixType Hp2 = OptionalNone) const override;
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/** return the measured */
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const EssentialMatrix& measured() const {
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return measuredE_;
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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// NoiseModelFactor2 instead of NoiseModelFactorN for backward compatibility
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ar
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& boost::serialization::make_nvp("NoiseModelFactor2",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(measuredE_);
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}
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public:
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GTSAM_MAKE_ALIGNED_OPERATOR_NEW
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};
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// \class EssentialMatrixConstraint
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}/// namespace gtsam
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