80 lines
2.3 KiB
C++
80 lines
2.3 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, 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 KarcherMeanFactor.cpp
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* @author Frank Dellaert
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* @date March 2019
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*/
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#pragma once
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#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/slam/KarcherMeanFactor.h>
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#include <optional>
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using namespace std;
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namespace gtsam {
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template <class T, class ALLOC>
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T FindKarcherMeanImpl(const vector<T, ALLOC>& rotations) {
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// Cost function C(R) = \sum PriorFactor(R_i)::error(R)
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// No closed form solution.
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NonlinearFactorGraph graph;
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static const Key kKey(0);
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for (const auto& R : rotations) {
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graph.addPrior<T>(kKey, R);
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}
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Values initial;
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initial.insert<T>(kKey, T());
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auto result = GaussNewtonOptimizer(graph, initial).optimize();
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return result.at<T>(kKey);
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}
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template <class T>
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T FindKarcherMean(const std::vector<T>& rotations) {
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return FindKarcherMeanImpl(rotations);
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}
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template <class T>
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T FindKarcherMean(const std::vector<T, Eigen::aligned_allocator<T>>& rotations) {
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return FindKarcherMeanImpl(rotations);
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}
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template <class T>
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T FindKarcherMean(std::initializer_list<T>&& rotations) {
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return FindKarcherMeanImpl(std::vector<T, Eigen::aligned_allocator<T> >(rotations));
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}
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template <class T>
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template <typename CONTAINER>
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KarcherMeanFactor<T>::KarcherMeanFactor(const CONTAINER &keys, int d,
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std::optional<double> beta)
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: NonlinearFactor(keys), d_(static_cast<size_t>(d)) {
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if (d <= 0) {
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throw std::invalid_argument(
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"KarcherMeanFactor needs dimension for dynamic types.");
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}
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// Create the constant Jacobian made of d*d identity matrices,
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// where d is the dimensionality of the manifold.
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Matrix A = Matrix::Identity(d, d);
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if (beta) A *= std::sqrt(*beta);
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std::map<Key, Matrix> terms;
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for (Key j : keys) {
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terms[j] = A;
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}
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whitenedJacobian_ =
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std::make_shared<JacobianFactor>(terms, Vector::Zero(d));
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}
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} // namespace gtsam
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