65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
/*
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* LocalOrientedPlane3Factor.cpp
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*
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* Author: David Wisth
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* Created on: February 12, 2021
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*/
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#include "LocalOrientedPlane3Factor.h"
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using namespace std;
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namespace gtsam {
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//***************************************************************************
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void LocalOrientedPlane3Factor::print(const string& s,
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const KeyFormatter& keyFormatter) const {
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cout << s << (s == "" ? "" : "\n");
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cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key<1>()) << ", "
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<< keyFormatter(key<2>()) << ", " << keyFormatter(key<3>()) << ")\n";
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measured_p_.print("Measured Plane");
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this->noiseModel_->print(" noise model: ");
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}
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//***************************************************************************
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Vector LocalOrientedPlane3Factor::evaluateError(const Pose3& wTwi,
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const Pose3& wTwa, const OrientedPlane3& a_plane,
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OptionalMatrixType H1, OptionalMatrixType H2,
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OptionalMatrixType H3) const {
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Matrix66 aTai_H_wTwa, aTai_H_wTwi;
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Matrix36 predicted_H_aTai;
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Matrix33 predicted_H_plane, error_H_predicted;
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// Find the relative transform from anchor to sensor frame.
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const Pose3 aTai = wTwa.transformPoseTo(wTwi,
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H2 ? &aTai_H_wTwa : nullptr,
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H1 ? &aTai_H_wTwi : nullptr);
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// Transform the plane measurement into sensor frame.
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const OrientedPlane3 i_plane = a_plane.transform(aTai,
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H2 ? &predicted_H_plane : nullptr,
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(H1 || H3) ? &predicted_H_aTai : nullptr);
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// Calculate the error between measured and estimated planes in sensor frame.
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const Vector3 err = measured_p_.errorVector(i_plane,
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boost::none, (H1 || H2 || H3) ? &error_H_predicted : nullptr);
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// Apply the chain rule to calculate the derivatives.
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if (H1) {
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*H1 = error_H_predicted * predicted_H_aTai * aTai_H_wTwi;
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}
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if (H2) {
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*H2 = error_H_predicted * predicted_H_aTai * aTai_H_wTwa;
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}
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if (H3) {
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*H3 = error_H_predicted * predicted_H_plane;
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}
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return err;
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}
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} // namespace gtsam
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