122 lines
3.3 KiB
C++
122 lines
3.3 KiB
C++
/**
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* @file VSLAMConfig.cpp
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* @brief The Config
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* @author Alireza Fathi
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* @author Carlos Nieto
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*/
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#include <iostream>
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#include <boost/foreach.hpp>
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#include <boost/tuple/tuple.hpp>
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#include "VSLAMConfig.h"
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using namespace std;
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// trick from some reading group
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#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
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#define SIGMA 1.0
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namespace gtsam {
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/* ************************************************************************* */
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// Exponential map
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VSLAMConfig VSLAMConfig::exmap(const VectorConfig & delta) const {
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VSLAMConfig newConfig;
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for (map<string, Vector>::const_iterator it = delta.begin(); it
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!= delta.end(); it++) {
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string key = it->first;
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if (key[0] == 'x') {
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int cameraNumber = atoi(key.substr(1, key.size() - 1).c_str());
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if (cameraPoseExists(cameraNumber)) {
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Pose3 basePose = cameraPose(cameraNumber);
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newConfig.addCameraPose(cameraNumber, basePose.exmap(it->second));
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}
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}
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if (key[0] == 'l') {
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int landmarkNumber = atoi(key.substr(1, key.size() - 1).c_str());
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if (landmarkPointExists(landmarkNumber)) {
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Point3 basePoint = landmarkPoint(landmarkNumber);
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newConfig.addLandmarkPoint(landmarkNumber, basePoint.exmap(it->second));
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}
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}
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}
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return newConfig;
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}
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/* ************************************************************************* */
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void VSLAMConfig::print(const std::string& s) const
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{
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printf("%s:\n", s.c_str());
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printf("Camera Poses:\n");
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for(PoseMap::const_iterator it = cameraIteratorBegin(); it != cameraIteratorEnd(); it++)
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{
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printf("x%d:\n", it->first);
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it->second.print();
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}
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printf("Landmark Points:\n");
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for(PointMap::const_iterator it = landmarkIteratorBegin(); it != landmarkIteratorEnd(); it++)
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{
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printf("l%d:\n", (*it).first);
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(*it).second.print();
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}
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}
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/* ************************************************************************* */
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bool VSLAMConfig::equals(const VSLAMConfig& c, double tol) const {
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for (PoseMap::const_iterator it = cameraIteratorBegin(); it
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!= cameraIteratorEnd(); it++) {
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if (!c.cameraPoseExists(it->first)) return false;
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if (!it->second.equals(c.cameraPose(it->first), tol)) return false;
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}
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for (PointMap::const_iterator it = landmarkIteratorBegin(); it
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!= landmarkIteratorEnd(); it++) {
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if (!c.landmarkPointExists(it->first)) return false;
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if (!it->second.equals(c.landmarkPoint(it->first), tol)) return false;
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}
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return true;
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}
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/* ************************************************************************* */
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void VSLAMConfig::addCameraPose(const int i, Pose3 cp)
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{
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pair<int, Pose3> camera;
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camera.first = i;
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camera.second = cp;
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cameraPoses_.insert(camera);
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}
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/* ************************************************************************* */
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void VSLAMConfig::addLandmarkPoint(const int i, Point3 lp)
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{
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pair<int, Point3> landmark;
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landmark.first = i;
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landmark.second = lp;
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landmarkPoints_.insert(landmark);
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}
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/* ************************************************************************* */
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void VSLAMConfig::removeCameraPose(const int i)
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{
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if(cameraPoseExists(i))
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cameraPoses_.erase(i);
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}
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/* ************************************************************************* */
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void VSLAMConfig::removeLandmarkPose(const int i)
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{
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if(landmarkPointExists(i))
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landmarkPoints_.erase(i);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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