143 lines
4.7 KiB
C++
143 lines
4.7 KiB
C++
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/**
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* @file InvDepthFactorVariant1.h
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* @brief Inverse Depth Factor based on Civera09tro, Montiel06rss.
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* Landmarks are parameterized as (x,y,z,theta,phi,rho). The factor involves
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* a single pose and a landmark. The landmark parameterization contains the
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* reference point internally (and will thus be updated as well during optimization).
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* @author Chris Beall, Stephen Williams
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/base/numericalDerivative.h>
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namespace gtsam {
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/**
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* Binary factor representing a visual measurement using an inverse-depth parameterization
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*/
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class InvDepthFactorVariant1: public NoiseModelFactor2<Pose3, Vector6> {
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protected:
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// Keep a copy of measurement and calibration for I/O
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Point2 measured_; ///< 2D measurement
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Cal3_S2::shared_ptr 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 NoiseModelFactor2<Pose3, Vector6> Base;
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/// shorthand for this class
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typedef InvDepthFactorVariant1 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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InvDepthFactorVariant1() : K_(new Cal3_S2(444, 555, 666, 777, 888)) {}
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/**
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* Constructor
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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 measured is the 2 dimensional location of point in image (the measurement)
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* @param K shared pointer to the constant calibration
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* @param model is the standard deviation
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*/
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InvDepthFactorVariant1(const Key poseKey, const Key landmarkKey,
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const Point2& measured, const Cal3_S2::shared_ptr& K, const SharedNoiseModel& model) :
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Base(model, poseKey, landmarkKey), measured_(measured), K_(K) {}
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/** Virtual destructor */
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virtual ~InvDepthFactorVariant1() {}
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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 = "InvDepthFactorVariant1",
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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
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&& Base::equals(p, tol)
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&& this->measured_.equals(e->measured_, tol)
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&& this->K_->equals(*e->K_, tol);
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}
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Vector inverseDepthError(const Pose3& pose, const Vector6& landmark) const {
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try {
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// Calculate the 3D coordinates of the landmark in the world frame
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double x = landmark(0), y = landmark(1), z = landmark(2);
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double theta = landmark(3), phi = landmark(4), rho = landmark(5);
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Point3 world_P_landmark = Point3(x, y, z) + Point3(cos(theta)*cos(phi)/rho, sin(theta)*cos(phi)/rho, sin(phi)/rho);
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// Project landmark into Pose2
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PinholeCamera<Cal3_S2> camera(pose, *K_);
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gtsam::Point2 reprojectionError(camera.project(world_P_landmark) - measured_);
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return reprojectionError.vector();
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} catch( CheiralityException& e) {
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std::cout << e.what()
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<< ": Inverse Depth Landmark [" << DefaultKeyFormatter(this->key2()) << "]"
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<< " moved behind camera [" << DefaultKeyFormatter(this->key1()) <<"]"
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<< 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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/// Evaluate error h(x)-z and optionally derivatives
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Vector evaluateError(const Pose3& pose, const Vector6& landmark,
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boost::optional<gtsam::Matrix&> H1=boost::none,
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boost::optional<gtsam::Matrix&> H2=boost::none) const {
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if (H1) {
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(*H1) = numericalDerivative11<Vector, Pose3>(
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boost::bind(&InvDepthFactorVariant1::inverseDepthError, this, _1,
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landmark), pose);
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}
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if (H2) {
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(*H2) = numericalDerivative11<Vector, Vector6>(
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boost::bind(&InvDepthFactorVariant1::inverseDepthError, this, pose,
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_1), landmark);
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}
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return inverseDepthError(pose, landmark);
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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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const 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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