128 lines
3.9 KiB
C++
128 lines
3.9 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file ProjectionFactor.h
|
|
* @brief Basic bearing factor from 2D measurement
|
|
* @author Chris Beall
|
|
* @author Richard Roberts
|
|
* @author Frank Dellaert
|
|
* @author Alex Cunningham
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
#include <gtsam/geometry/SimpleCamera.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
|
|
* i.e. the main building block for visual SLAM.
|
|
*/
|
|
template<class POSE, class LANDMARK>
|
|
class GenericProjectionFactor: public NoiseModelFactor2<POSE, LANDMARK> {
|
|
protected:
|
|
|
|
// Keep a copy of measurement and calibration for I/O
|
|
Point2 measured_; ///< 2D measurement
|
|
boost::shared_ptr<Cal3_S2> K_; ///< shared pointer to calibration object
|
|
|
|
public:
|
|
|
|
/// shorthand for base class type
|
|
typedef NoiseModelFactor2<POSE, LANDMARK> Base;
|
|
|
|
/// shorthand for this class
|
|
typedef GenericProjectionFactor<POSE, LANDMARK> This;
|
|
|
|
/// shorthand for a smart pointer to a factor
|
|
typedef boost::shared_ptr<This> shared_ptr;
|
|
|
|
/// Default constructor
|
|
GenericProjectionFactor() :
|
|
K_(new Cal3_S2(444, 555, 666, 777, 888)) {
|
|
}
|
|
|
|
/**
|
|
* Constructor
|
|
* TODO: Mark argument order standard (keys, measurement, parameters)
|
|
* @param z is the 2 dimensional location of point in image (the measurement)
|
|
* @param model is the standard deviation
|
|
* @param j_pose is basically the frame number
|
|
* @param j_landmark is the index of the landmark
|
|
* @param K shared pointer to the constant calibration
|
|
*/
|
|
GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
|
|
const Key poseKey, Key pointKey, const shared_ptrK& K) :
|
|
Base(model, poseKey, pointKey), measured_(measured), K_(K) {
|
|
}
|
|
|
|
/** Virtual destructor */
|
|
virtual ~GenericProjectionFactor() {}
|
|
|
|
ADD_CLONE_NONLINEAR_FACTOR(This)
|
|
|
|
/**
|
|
* print
|
|
* @param s optional string naming the factor
|
|
*/
|
|
void print(const std::string& s = "ProjectionFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
|
|
Base::print(s, keyFormatter);
|
|
measured_.print(s + ".z");
|
|
}
|
|
|
|
/// equals
|
|
virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const {
|
|
const This *e = dynamic_cast<const This*>(&p);
|
|
return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol);
|
|
}
|
|
|
|
/// Evaluate error h(x)-z and optionally derivatives
|
|
Vector evaluateError(const Pose3& pose, const Point3& point,
|
|
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
|
|
try {
|
|
SimpleCamera camera(*K_, pose);
|
|
Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
|
|
return reprojectionError.vector();
|
|
} catch( CheiralityException& e) {
|
|
if (H1) *H1 = zeros(2,6);
|
|
if (H2) *H2 = zeros(2,3);
|
|
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
|
|
" moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
|
|
return ones(2) * 2.0 * K_->fx();
|
|
}
|
|
}
|
|
|
|
/** return the measurement */
|
|
const Point2& measured() const {
|
|
return measured_;
|
|
}
|
|
|
|
/** return the calibration object */
|
|
inline const Cal3_S2::shared_ptr calibration() const {
|
|
return K_;
|
|
}
|
|
|
|
private:
|
|
|
|
/// Serialization function
|
|
friend class boost::serialization::access;
|
|
template<class ARCHIVE>
|
|
void serialize(ARCHIVE & ar, const unsigned int version) {
|
|
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
|
|
ar & BOOST_SERIALIZATION_NVP(measured_);
|
|
ar & BOOST_SERIALIZATION_NVP(K_);
|
|
}
|
|
};
|
|
} // \ namespace gtsam
|