122 lines
2.9 KiB
C++
122 lines
2.9 KiB
C++
/**
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* @file VSLAMConfig.h
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* @brief Config for VSLAM
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* @author Alireza Fathi
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* @author Carlos Nieto
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*/
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#include <string>
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#include <map>
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#include <vector>
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#include <fstream>
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#include "VectorConfig.h"
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#include "Pose3.h"
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#include "Cal3_S2.h"
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#include "Testable.h"
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#pragma once
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namespace gtsam{
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/**
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* Config that knows about points and poses
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*/
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class VSLAMConfig : Testable<VSLAMConfig> {
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private:
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typedef std::map<int, Pose3> PoseMap;
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typedef std::map<int, Point3> PointMap;
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PointMap landmarkPoints_;
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PoseMap cameraPoses_;
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public:
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typedef std::map<std::string, Vector>::const_iterator const_iterator;
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typedef PoseMap::const_iterator const_Pose_iterator;
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typedef PointMap::const_iterator const_Point_iterator;
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/**
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* default constructor
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*/
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VSLAMConfig() {}
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/*
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* copy constructor
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*/
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VSLAMConfig(const VSLAMConfig& original):
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cameraPoses_(original.cameraPoses_), landmarkPoints_(original.landmarkPoints_){}
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/**
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* Exponential map: takes 6D vectors in VectorConfig
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* and applies them to the poses in the VSLAMConfig.
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* Needed for use in nonlinear optimization
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*/
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VSLAMConfig exmap(const VectorConfig & delta) const;
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PoseMap::const_iterator cameraIteratorBegin() const { return cameraPoses_.begin();}
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PoseMap::const_iterator cameraIteratorEnd() const { return cameraPoses_.end();}
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PointMap::const_iterator landmarkIteratorBegin() const { return landmarkPoints_.begin();}
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PointMap::const_iterator landmarkIteratorEnd() const { return landmarkPoints_.end();}
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/**
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* print
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*/
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void print(const std::string& s = "") const;
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/**
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* Retrieve robot pose
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*/
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bool cameraPoseExists(int i) const
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{
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PoseMap::const_iterator it = cameraPoses_.find(i);
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if (it==cameraPoses_.end())
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return false;
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return true;
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}
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Pose3 cameraPose(int i) const {
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PoseMap::const_iterator it = cameraPoses_.find(i);
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if (it==cameraPoses_.end())
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throw(std::invalid_argument("robotPose: invalid key"));
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return it->second;
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}
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/**
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* Check whether a landmark point exists
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*/
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bool landmarkPointExists(int i) const
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{
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PointMap::const_iterator it = landmarkPoints_.find(i);
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if (it==landmarkPoints_.end())
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return false;
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return true;
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}
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/**
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* Retrieve landmark point
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*/
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Point3 landmarkPoint(int i) const {
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PointMap::const_iterator it = landmarkPoints_.find(i);
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if (it==landmarkPoints_.end())
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throw(std::invalid_argument("markerPose: invalid key"));
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return it->second;
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}
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/**
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* check whether two configs are equal
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*/
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bool equals(const VSLAMConfig& c, double tol=1e-6) const;
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void addCameraPose(const int i, Pose3 cp);
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void addLandmarkPoint(const int i, Point3 lp);
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void removeCameraPose(const int i);
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void removeLandmarkPose(const int i);
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void clear() {landmarkPoints_.clear(); cameraPoses_.clear();}
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inline size_t size(){
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return landmarkPoints_.size() + cameraPoses_.size();
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}
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};
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} // namespace gtsam
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