119 lines
2.8 KiB
C++
119 lines
2.8 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file Similarity3.h
|
|
* @brief Implementation of Similarity3 transform
|
|
*/
|
|
|
|
#ifndef GTSAM_UNSTABLE_GEOMETRY_SIMILARITY3_H_
|
|
#define GTSAM_UNSTABLE_GEOMETRY_SIMILARITY3_H_
|
|
|
|
|
|
#include <gtsam/geometry/Rot3.h>
|
|
#include <gtsam/geometry/Point3.h>
|
|
#include <gtsam/base/Manifold.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* 3D similarity transform
|
|
*/
|
|
class Similarity3: public LieGroup<Similarity3, 7> {
|
|
|
|
/** Pose Concept requirements */
|
|
typedef Rot3 Rotation;
|
|
typedef Point3 Translation;
|
|
|
|
private:
|
|
Rot3 R_;
|
|
Point3 t_;
|
|
double s_;
|
|
|
|
public:
|
|
|
|
Similarity3();
|
|
|
|
/// Construct pure scaling
|
|
Similarity3(double s);
|
|
|
|
/// Construct from GTSAM types
|
|
Similarity3(const Rot3& R, const Point3& t, double s);
|
|
|
|
/// Construct from Eigen types
|
|
Similarity3(const Matrix3& R, const Vector3& t, double s);
|
|
|
|
/// Return the translation
|
|
const Vector3 t() const;
|
|
|
|
/// Return the rotation matrix
|
|
const Matrix3 R() const;
|
|
|
|
static Similarity3 identity();
|
|
|
|
static Vector7 Logmap(const Similarity3& s, OptionalJacobian<7, 7> Hm = boost::none);
|
|
|
|
static Similarity3 Expmap(const Vector7& v, OptionalJacobian<7, 7> Hm = boost::none);
|
|
|
|
bool operator==(const Similarity3& other) const;
|
|
|
|
/// Compare with tolerance
|
|
bool equals(const Similarity3& sim, double tol) const;
|
|
|
|
Point3 transform_from(const Point3& p) const;
|
|
|
|
Matrix7 AdjointMap() const;
|
|
|
|
/** syntactic sugar for transform_from */
|
|
inline Point3 operator*(const Point3& p) const;
|
|
|
|
Similarity3 inverse() const;
|
|
|
|
Similarity3 operator*(const Similarity3& T) const;
|
|
|
|
void print(const std::string& s) const;
|
|
|
|
/// Dimensionality of tangent space = 7 DOF - used to autodetect sizes
|
|
inline static size_t Dim() {
|
|
return 7;
|
|
};
|
|
|
|
/// Dimensionality of tangent space = 7 DOF
|
|
inline size_t dim() const {
|
|
return 7;
|
|
};
|
|
|
|
/// Return the rotation matrix
|
|
Rot3 rotation() const;
|
|
|
|
/// Return the translation
|
|
Point3 translation() const;
|
|
|
|
/// Return the scale
|
|
double scale() const;
|
|
|
|
/// Update Similarity transform via 7-dim vector in tangent space
|
|
struct ChartAtOrigin {
|
|
static Similarity3 Retract(const Vector7& v, ChartJacobian H = boost::none);
|
|
|
|
/// 7-dimensional vector v in tangent space that makes other = this->retract(v)
|
|
static Vector7 Local(const Similarity3& other, ChartJacobian H = boost::none);
|
|
};
|
|
|
|
using LieGroup<Similarity3, 7>::inverse; // version with derivative
|
|
};
|
|
|
|
template<>
|
|
struct traits<Similarity3> : public internal::LieGroupTraits<Similarity3> {};
|
|
}
|
|
|
|
#endif /* GTSAM_UNSTABLE_GEOMETRY_SIMILARITY3_H_ */
|