124 lines
4.4 KiB
C++
124 lines
4.4 KiB
C++
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/**
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* @file InvDepthFactor3.h
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* @brief Inverse Depth Factor based on Civera09tro, Montiel06rss.
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* Landmarks are initialized from the first camera observation with
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* (x,y,z,theta,phi,inv_depth), where x,y,z are the coordinates of
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* the camera. InvDepthCamera provides methods to initialize inverse
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* depth landmarks (backproject), and to convert inverse depth
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* landmarks to cartesian coordinates (Point3) for visualization, etc.
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* The inverse depth parameterization is split into (x,y,z,theta,phi),
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* (inv_depth) to make it easy to add a prior on inverse depth alone
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* @author Chris Beall
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*/
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#pragma once
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam_unstable/geometry/InvDepthCamera3.h>
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namespace gtsam {
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/**
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* Ternary factor representing a visual measurement that includes inverse depth
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*/
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template<class POSE, class LANDMARK, class INVDEPTH>
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class InvDepthFactor3: public gtsam::NoiseModelFactor3<POSE, LANDMARK, INVDEPTH> {
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protected:
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// Keep a copy of measurement and calibration for I/O
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gtsam::Point2 measured_; ///< 2D measurement
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boost::shared_ptr<gtsam::Cal3_S2> K_; ///< shared pointer to calibration object
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public:
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/// shorthand for base class type
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typedef gtsam::NoiseModelFactor3<POSE, LANDMARK, INVDEPTH> Base;
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/// shorthand for this class
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typedef InvDepthFactor3<POSE, LANDMARK, INVDEPTH> This;
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/// shorthand for a smart pointer to a factor
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typedef boost::shared_ptr<This> shared_ptr;
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/// Default constructor
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InvDepthFactor3() : K_(new gtsam::Cal3_S2(444, 555, 666, 777, 888)) {}
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/**
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* Constructor
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* TODO: Mark argument order standard (keys, measurement, parameters)
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* @param measured is the 2 dimensional location of point in image (the measurement)
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* @param model is the standard deviation
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* @param poseKey is the index of the camera pose
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* @param pointKey is the index of the landmark
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* @param invDepthKey is the index of inverse depth
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* @param K shared pointer to the constant calibration
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*/
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InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model,
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const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const Cal3_S2::shared_ptr& K) :
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Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {}
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/** Virtual destructor */
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virtual ~InvDepthFactor3() {}
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/**
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* print
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* @param s optional string naming the factor
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* @param keyFormatter optional formatter useful for printing Symbols
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*/
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void print(const std::string& s = "InvDepthFactor3",
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const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const {
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Base::print(s, keyFormatter);
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measured_.print(s + ".z");
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}
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/// equals
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virtual bool equals(const gtsam::NonlinearFactor& p, double tol = 1e-9) const {
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const This *e = dynamic_cast<const This*>(&p);
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return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol);
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}
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/// Evaluate error h(x)-z and optionally derivatives
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gtsam::Vector evaluateError(const POSE& pose, const gtsam::LieVector& point, const INVDEPTH& invDepth,
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boost::optional<gtsam::Matrix&> H1=boost::none,
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boost::optional<gtsam::Matrix&> H2=boost::none,
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boost::optional<gtsam::Matrix&> H3=boost::none) const {
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try {
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InvDepthCamera3<gtsam::Cal3_S2> camera(pose, K_);
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gtsam::Point2 reprojectionError(camera.project(point, invDepth, H1, H2, H3) - measured_);
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return reprojectionError.vector();
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} catch( CheiralityException& e) {
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if (H1) *H1 = gtsam::zeros(2,6);
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if (H2) *H2 = gtsam::zeros(2,5);
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if (H3) *H2 = gtsam::zeros(2,1);
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std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
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" moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
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return gtsam::ones(2) * 2.0 * K_->fx();
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}
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return (gtsam::Vector(1) << 0.0);
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}
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/** return the measurement */
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const gtsam::Point2& imagePoint() const {
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return measured_;
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}
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/** return the calibration object */
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inline const gtsam::Cal3_S2::shared_ptr calibration() const {
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return K_;
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}
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private:
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/// Serialization function
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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ar & BOOST_SERIALIZATION_NVP(measured_);
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ar & BOOST_SERIALIZATION_NVP(K_);
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}
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};
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} // \ namespace gtsam
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