102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
/**
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* @file VSLAMFactor.cpp
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* @brief A non-linear factor specialized to the Visual SLAM problem
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* @author Alireza Fathi
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*/
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#include "VSLAMFactor.h"
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#include "SimpleCamera.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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VSLAMFactor::VSLAMFactor(const Vector& z, double sigma, int cn, int ln, const Cal3_S2 &K)
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: NonlinearFactor(z, sigma)
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{
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cameraFrameNumber_ = cn;
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landmarkNumber_ = ln;
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char temp[100];
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temp[0] = 0;
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sprintf(temp, "x%d", cameraFrameNumber_);
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cameraFrameName_ = string(temp);
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temp[0] = 0;
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sprintf(temp, "l%d", landmarkNumber_);
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landmarkName_ = string(temp);
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K_ = K;
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}
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/* ************************************************************************* */
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void VSLAMFactor::print(const std::string& s) const {
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printf("%s %s %s\n", s.c_str(), cameraFrameName_.c_str(), landmarkName_.c_str());
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::print(z_, s+".z");
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}
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/* ************************************************************************* */
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Vector VSLAMFactor::error_vector(const FGConfig& c) const {
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Pose3 pose = c[cameraFrameName_];
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Point3 landmark = c[landmarkName_];
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// Right-hand-side b = (z - h(x))/sigma
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Vector h = project(SimpleCamera(K_,pose), landmark).vector();
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return (z_ - h);
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}
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/* ************************************************************************* */
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LinearFactor::shared_ptr VSLAMFactor::linearize(const FGConfig& c) const
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{
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// get arguments from config
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Pose3 pose = c[cameraFrameName_]; // cast from Vector to Pose3 !!!
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Point3 landmark = c[landmarkName_]; // cast from Vector to Point3 !!
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SimpleCamera camera(K_,pose);
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// Jacobians
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Matrix Dh1 = Dproject_pose(camera, landmark);
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Matrix Dh2 = Dproject_point(camera, landmark);
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// Right-hand-side b = (z - h(x))
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Vector h = project(camera, landmark).vector();
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Vector b = z_ - h;
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// Make new linearfactor, divide by sigma
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LinearFactor::shared_ptr
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p(new LinearFactor(cameraFrameName_, Dh1/sigma_, landmarkName_, Dh2/sigma_, b/sigma_));
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return p;
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}
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/* ************************************************************************* */
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bool VSLAMFactor::equals(const Factor& f, double tol) const {
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const VSLAMFactor* p = dynamic_cast<const VSLAMFactor*>(&f);
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if (p == NULL) goto fail;
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if (cameraFrameNumber_ != p->cameraFrameNumber_ || landmarkNumber_ != p->landmarkNumber_) goto fail;
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if (!equal_with_abs_tol(z_,p->z_,tol)) goto fail;
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return true;
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fail:
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print("actual");
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p->print("expected");
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return false;
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}
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/* ************************************************************************* */
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string VSLAMFactor::dump() const
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{
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int i = getCameraFrameNumber();
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int j = getLandmarkNumber();
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double sigma = get_sigma();
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Vector z = get_measurement();
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char buffer[200];
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buffer[0] = 0;
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sprintf(buffer, "1 %d %d %f %d", i, j , sigma, z.size());
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for(size_t i = 0; i < z.size(); i++)
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sprintf(buffer, "%s %f", buffer, z(i));
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sprintf(buffer, "%s %s", buffer, K_.dump().c_str());
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return string(buffer);
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string temp;
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return temp;
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}
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