126 lines
3.0 KiB
C++
126 lines
3.0 KiB
C++
/**
|
|
* @file VSLAMConfig.h
|
|
* @brief Config for VSLAM
|
|
* @author Alireza Fathi
|
|
* @author Carlos Nieto
|
|
*/
|
|
|
|
#include <string>
|
|
#include <map>
|
|
#include <vector>
|
|
#include <fstream>
|
|
#include "VectorConfig.h"
|
|
#include "Pose3.h"
|
|
#include "Cal3_S2.h"
|
|
#include "Testable.h"
|
|
|
|
#pragma once
|
|
|
|
namespace gtsam{
|
|
|
|
/**
|
|
* Config that knows about points and poses
|
|
*/
|
|
class VSLAMConfig : Testable<VSLAMConfig> {
|
|
|
|
private:
|
|
typedef std::map<int, Pose3> PoseMap;
|
|
typedef std::map<int, Point3> PointMap;
|
|
PointMap landmarkPoints_;
|
|
PoseMap cameraPoses_;
|
|
|
|
public:
|
|
typedef std::map<std::string, Vector>::const_iterator const_iterator;
|
|
typedef PoseMap::const_iterator const_Pose_iterator;
|
|
typedef PointMap::const_iterator const_Point_iterator;
|
|
/**
|
|
* default constructor
|
|
*/
|
|
VSLAMConfig() {}
|
|
|
|
/*
|
|
* copy constructor
|
|
*/
|
|
VSLAMConfig(const VSLAMConfig& original):
|
|
cameraPoses_(original.cameraPoses_), landmarkPoints_(original.landmarkPoints_){}
|
|
|
|
PoseMap::const_iterator cameraIteratorBegin() const { return cameraPoses_.begin();}
|
|
PoseMap::const_iterator cameraIteratorEnd() const { return cameraPoses_.end();}
|
|
PointMap::const_iterator landmarkIteratorBegin() const { return landmarkPoints_.begin();}
|
|
PointMap::const_iterator landmarkIteratorEnd() const { return landmarkPoints_.end();}
|
|
|
|
/**
|
|
* print
|
|
*/
|
|
void print(const std::string& s = "") const;
|
|
|
|
/**
|
|
* Retrieve robot pose
|
|
*/
|
|
bool cameraPoseExists(int i) const
|
|
{
|
|
PoseMap::const_iterator it = cameraPoses_.find(i);
|
|
if (it==cameraPoses_.end())
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
Pose3 cameraPose(int i) const {
|
|
PoseMap::const_iterator it = cameraPoses_.find(i);
|
|
if (it==cameraPoses_.end())
|
|
throw(std::invalid_argument("robotPose: invalid key"));
|
|
return it->second;
|
|
}
|
|
|
|
/**
|
|
* Check whether a landmark point exists
|
|
*/
|
|
bool landmarkPointExists(int i) const
|
|
{
|
|
PointMap::const_iterator it = landmarkPoints_.find(i);
|
|
if (it==landmarkPoints_.end())
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Retrieve landmark point
|
|
*/
|
|
Point3 landmarkPoint(int i) const {
|
|
PointMap::const_iterator it = landmarkPoints_.find(i);
|
|
if (it==landmarkPoints_.end())
|
|
throw(std::invalid_argument("markerPose: invalid key"));
|
|
return it->second;
|
|
}
|
|
|
|
/**
|
|
* check whether two configs are equal
|
|
*/
|
|
bool equals(const VSLAMConfig& c, double tol=1e-6) const;
|
|
void addCameraPose(const int i, Pose3 cp);
|
|
void addLandmarkPoint(const int i, Point3 lp);
|
|
|
|
void removeCameraPose(const int i);
|
|
void removeLandmarkPose(const int i);
|
|
|
|
void clear() {landmarkPoints_.clear(); cameraPoses_.clear();}
|
|
|
|
inline size_t size(){
|
|
return landmarkPoints_.size() + cameraPoses_.size();
|
|
}
|
|
|
|
friend VSLAMConfig expmap(const VSLAMConfig& c, const VectorConfig & delta);
|
|
};
|
|
|
|
|
|
/**
|
|
* Exponential map: takes 6D vectors in VectorConfig
|
|
* and applies them to the poses in the VSLAMConfig.
|
|
* Needed for use in nonlinear optimization
|
|
*/
|
|
VSLAMConfig expmap(const VSLAMConfig& c, const VectorConfig & delta);
|
|
|
|
|
|
} // namespace gtsam
|
|
|