types_seven_dof_expmap.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_SEVEN_DOF_EXPMAP_TYPES
#define G2O_SEVEN_DOF_EXPMAP_TYPES
#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/core/base_vertex.h"
#include "g2o/types/sba/types_six_dof_expmap.h"
#include "sim3.h"
 
#ifdef _MSC_VER
// We are using a Microsoft compiler:
#ifdef G2O_SHARED_LIBS
#ifdef types_sim3_EXPORTS
#define G2O_TYPES_SIM3_API __declspec(dllexport)
#else
#define G2O_TYPES_SIM3_API __declspec(dllimport)
#endif
#else
#define G2O_TYPES_SIM3_API
#endif
 
#else
// Not Microsoft compiler so set empty definition:
#define G2O_TYPES_SIM3_API
#endif
namespace g2o {

class G2O_TYPES_SIM3_API VertexSim3Expmap : public BaseVertex<7, Sim3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexSim3Expmap();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  virtual void setToOriginImpl() { _estimate = Sim3(); }
 
  virtual void oplusImpl(const double* update_) {
    Eigen::Map<Vector7> update(const_cast<double*>(update_));
 
    if (_fix_scale) update[6] = 0;
 
    Sim3 s(update);
    setEstimate(s * estimate());
  }
 
  Vector2 _principle_point1, _principle_point2;
  Vector2 _focal_length1, _focal_length2;
 
  Vector2 cam_map1(const Vector2& v) const {
    Vector2 res;
    res[0] = v[0] * _focal_length1[0] + _principle_point1[0];
    res[1] = v[1] * _focal_length1[1] + _principle_point1[1];
    return res;
  }
 
  Vector2 cam_map2(const Vector2& v) const {
    Vector2 res;
    res[0] = v[0] * _focal_length2[0] + _principle_point2[0];
    res[1] = v[1] * _focal_length2[1] + _principle_point2[1];
    return res;
  }
 
  bool _fix_scale;
 
 protected:
};

class G2O_TYPES_SIM3_API EdgeSim3
    : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSim3();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
  void computeError() {
    const VertexSim3Expmap* v1 =
        static_cast<const VertexSim3Expmap*>(_vertices[0]);
    const VertexSim3Expmap* v2 =
        static_cast<const VertexSim3Expmap*>(_vertices[1]);
 
    Sim3 C(_measurement);
    Sim3 error_ = C * v1->estimate() * v2->estimate().inverse();
    _error = error_.log();
  }
 
  virtual double initialEstimatePossible(const OptimizableGraph::VertexSet&,
                                         OptimizableGraph::Vertex*) {
    return 1.;
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* /*to*/) {
    VertexSim3Expmap* v1 = static_cast<VertexSim3Expmap*>(_vertices[0]);
    VertexSim3Expmap* v2 = static_cast<VertexSim3Expmap*>(_vertices[1]);
    if (from.count(v1) > 0)
      v2->setEstimate(measurement() * v1->estimate());
    else
      v1->setEstimate(measurement().inverse() * v2->estimate());
  }
#if G2O_SIM3_JACOBIAN
  virtual void linearizeOplus();
#endif
};
 
/**/
class G2O_TYPES_SIM3_API EdgeSim3ProjectXYZ
    : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSim3ProjectXYZ();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  void computeError() {
    const VertexSim3Expmap* v1 =
        static_cast<const VertexSim3Expmap*>(_vertices[1]);
    const VertexPointXYZ* v2 = static_cast<const VertexPointXYZ*>(_vertices[0]);
 
    Vector2 obs(_measurement);
    _error = obs - v1->cam_map1(project(v1->estimate().map(v2->estimate())));
  }
 
  // virtual void linearizeOplus();
};
 
/**/
class G2O_TYPES_SIM3_API EdgeInverseSim3ProjectXYZ
    : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSim3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeInverseSim3ProjectXYZ();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  void computeError() {
    const VertexSim3Expmap* v1 =
        static_cast<const VertexSim3Expmap*>(_vertices[1]);
    const VertexPointXYZ* v2 = static_cast<const VertexPointXYZ*>(_vertices[0]);
 
    Vector2 obs(_measurement);
    _error = obs - v1->cam_map2(
                       project(v1->estimate().inverse().map(v2->estimate())));
  }
 
  // virtual void linearizeOplus();
};
 
}  // namespace g2o
 
#endif