97 lines
3.5 KiB
C++
97 lines
3.5 KiB
C++
/*
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* @file LocalOrientedPlane3Factor.h
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* @brief LocalOrientedPlane3 Factor class
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* @author David Wisth
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* @date February 12, 2021
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*/
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#pragma once
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#include <gtsam/geometry/OrientedPlane3.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam_unstable/dllexport.h>
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#include <string>
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namespace gtsam {
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/**
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* Factor to measure a planar landmark from a given pose, with a given local
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* linearization point.
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*
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* This factor is based on the relative plane factor formulation proposed in:
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* Equation 25,
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* M. Kaess, "Simultaneous Localization and Mapping with Infinite Planes",
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* IEEE International Conference on Robotics and Automation, 2015.
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*
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*
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* The main purpose of this factor is to improve the numerical stability of the
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* optimization, especially compared to gtsam::OrientedPlane3Factor. This
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* is especially relevant when the sensor is far from the origin (and thus
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* the derivatives associated to transforming the plane are large).
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*
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* x0 is the current sensor pose, and x1 is the local "anchor pose" - i.e.
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* a local linearisation point for the plane. The plane is representated and
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* optimized in x1 frame in the optimization.
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*/
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class GTSAM_UNSTABLE_EXPORT LocalOrientedPlane3Factor
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: public NoiseModelFactorN<Pose3, Pose3, OrientedPlane3> {
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protected:
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OrientedPlane3 measured_p_;
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typedef NoiseModelFactorN<Pose3, Pose3, OrientedPlane3> Base;
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public:
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// Provide access to the Matrix& version of evaluateError:
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using Base::evaluateError;
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/// Constructor
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LocalOrientedPlane3Factor() {}
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~LocalOrientedPlane3Factor() override {}
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/** Constructor with measured plane (a,b,c,d) coefficients
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* @param z measured plane (a,b,c,d) coefficients as 4D vector
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* @param noiseModel noiseModel Gaussian noise model
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* @param poseKey Key or symbol for unknown pose
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* @param anchorPoseKey Key or symbol for the plane's linearization point,
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(called the "anchor pose").
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* @param landmarkKey Key or symbol for unknown planar landmark
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*
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* Note: The anchorPoseKey can simply be chosen as the first pose a plane
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* is observed.
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*/
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LocalOrientedPlane3Factor(const Vector4& z, const SharedNoiseModel& noiseModel,
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Key poseKey, Key anchorPoseKey, Key landmarkKey)
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: Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {}
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LocalOrientedPlane3Factor(const OrientedPlane3& z,
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const SharedNoiseModel& noiseModel,
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Key poseKey, Key anchorPoseKey, Key landmarkKey)
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: Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {}
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/// print
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void print(const std::string& s = "LocalOrientedPlane3Factor",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
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/***
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* Vector of errors
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* @brief Error = measured_plane_.error(a_plane.transform(inv(wTwa) * wTwi))
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*
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* This is the error of the measured and predicted plane in the current
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* sensor frame, i. The plane is represented in the anchor pose, a.
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*
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* @param wTwi The pose of the sensor in world coordinates
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* @param wTwa The pose of the anchor frame in world coordinates
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* @param a_plane The estimated plane in anchor frame.
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*
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* Note: The optimized plane is represented in anchor frame, a, not the
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* world frame.
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*/
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Vector evaluateError(const Pose3& wTwi, const Pose3& wTwa,
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const OrientedPlane3& a_plane, OptionalMatrixType H1,
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OptionalMatrixType H2, OptionalMatrixType H3) const override;
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};
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} // namespace gtsam
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