98 lines
3.1 KiB
C++
98 lines
3.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file SmartStereoProjectionPoseFactor.cpp
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* @brief Smart stereo factor on poses, assuming camera calibration is fixed
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* @author Luca Carlone
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* @author Antoni Rosinol
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* @author Chris Beall
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* @author Zsolt Kira
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* @author Frank Dellaert
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*/
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#include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
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namespace gtsam {
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SmartStereoProjectionPoseFactor::SmartStereoProjectionPoseFactor(
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const SharedNoiseModel& sharedNoiseModel,
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const SmartStereoProjectionParams& params,
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const boost::optional<Pose3>& body_P_sensor)
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: Base(sharedNoiseModel, params, body_P_sensor) {}
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void SmartStereoProjectionPoseFactor::add(
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const StereoPoint2& measured, const Key& poseKey,
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const boost::shared_ptr<Cal3_S2Stereo>& K) {
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Base::add(measured, poseKey);
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K_all_.push_back(K);
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}
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void SmartStereoProjectionPoseFactor::add(
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const std::vector<StereoPoint2>& measurements, const KeyVector& poseKeys,
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const std::vector<boost::shared_ptr<Cal3_S2Stereo>>& Ks) {
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assert(measurements.size() == poseKeys.size());
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assert(poseKeys.size() == Ks.size());
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Base::add(measurements, poseKeys);
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K_all_.insert(K_all_.end(), Ks.begin(), Ks.end());
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}
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void SmartStereoProjectionPoseFactor::add(
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const std::vector<StereoPoint2>& measurements, const KeyVector& poseKeys,
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const boost::shared_ptr<Cal3_S2Stereo>& K) {
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assert(poseKeys.size() == measurements.size());
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for (size_t i = 0; i < measurements.size(); i++) {
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Base::add(measurements[i], poseKeys[i]);
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K_all_.push_back(K);
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}
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}
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void SmartStereoProjectionPoseFactor::print(
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const std::string& s, const KeyFormatter& keyFormatter) const {
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std::cout << s << "SmartStereoProjectionPoseFactor, z = \n ";
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for (const boost::shared_ptr<Cal3_S2Stereo>& K : K_all_) {
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K->print("calibration = ");
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}
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Base::print("", keyFormatter);
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}
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bool SmartStereoProjectionPoseFactor::equals(const NonlinearFactor& p,
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double tol) const {
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const SmartStereoProjectionPoseFactor* e =
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dynamic_cast<const SmartStereoProjectionPoseFactor*>(&p);
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return e && Base::equals(p, tol);
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}
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double SmartStereoProjectionPoseFactor::error(const Values& values) const {
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if (this->active(values)) {
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return this->totalReprojectionError(cameras(values));
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} else { // else of active flag
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return 0.0;
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}
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}
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SmartStereoProjectionPoseFactor::Base::Cameras
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SmartStereoProjectionPoseFactor::cameras(const Values& values) const {
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assert(keys_.size() == K_all_.size());
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Base::Cameras cameras;
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for (size_t i = 0; i < keys_.size(); i++) {
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Pose3 pose = values.at<Pose3>(keys_[i]);
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if (Base::body_P_sensor_) {
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pose = pose.compose(*(Base::body_P_sensor_));
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}
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cameras.push_back(StereoCamera(pose, K_all_[i]));
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}
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return cameras;
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}
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} // \ namespace gtsam
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