Similarity3.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam/dllexport.h>


namespace gtsam {

// Forward declarations
class Pose3;

class Similarity3: public LieGroup<Similarity3, 7> {

  typedef Rot3 Rotation;
  typedef Point3 Translation;

private:
  Rot3 R_;
  Point3 t_;
  double s_;

public:


  GTSAM_EXPORT Similarity3();

  GTSAM_EXPORT Similarity3(double s);

  GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);

  GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);

  GTSAM_EXPORT Similarity3(const Matrix4& T);


  GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const;

  GTSAM_EXPORT bool operator==(const Similarity3& other) const;

  GTSAM_EXPORT void print(const std::string& s) const;

  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);


  GTSAM_EXPORT static Similarity3 identity();

  GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const;

  GTSAM_EXPORT Similarity3 inverse() const;


  GTSAM_EXPORT Point3 transformFrom(const Point3& p, //
      OptionalJacobian<3, 7> H1 = boost::none, //
      OptionalJacobian<3, 3> H2 = boost::none) const;

  GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const;

  GTSAM_EXPORT Point3 operator*(const Point3& p) const;

  GTSAM_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
  
  GTSAM_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);


  GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, //
      OptionalJacobian<7, 7> Hm = boost::none);

  GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, //
      OptionalJacobian<7, 7> Hm = boost::none);

  struct ChartAtOrigin {
    static Similarity3 Retract(const Vector7& v, ChartJacobian H = boost::none) {
      return Similarity3::Expmap(v, H);
    }
    static Vector7 Local(const Similarity3& other, ChartJacobian H = boost::none) {
      return Similarity3::Logmap(other, H);
    }
  };

  using LieGroup<Similarity3, 7>::inverse;

  GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi);

  GTSAM_EXPORT  Matrix7 AdjointMap() const;


  GTSAM_EXPORT const Matrix4 matrix() const;

  const Rot3& rotation() const {
    return R_;
  }

  const Point3& translation() const {
    return t_;
  }

  double scale() const {
    return s_;
  }

  GTSAM_EXPORT operator Pose3() const;

  inline static size_t Dim() {
    return 7;
  }

  inline size_t dim() const {
    return 7;
  }


private:
  static Matrix3 GetV(Vector3 w, double lambda);

};

template<>
inline Matrix wedge<Similarity3>(const Vector& xi) {
  return Similarity3::wedge(xi);
}

template<>
struct traits<Similarity3> : public internal::LieGroup<Similarity3> {};

template<>
struct traits<const Similarity3> : public internal::LieGroup<Similarity3> {};

} // namespace gtsam