AlignTrajectory.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OV_EVAL_ALIGNTRAJECTORY_H
#define OV_EVAL_ALIGNTRAJECTORY_H
 
#include <Eigen/Eigen>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
 
#include "AlignUtils.h"
 
#include "utils/colors.h"
#include "utils/print.h"
 
namespace ov_eval {
 
class AlignTrajectory {
 
public:
  static void align_trajectory(const std::vector<Eigen::Matrix<double, 7, 1>> &traj_es,
                               const std::vector<Eigen::Matrix<double, 7, 1>> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t, double &s,
                               std::string method, int n_aligned = -1);
 
protected:
  static void align_posyaw_single(const std::vector<Eigen::Matrix<double, 7, 1>> &traj_es,
                                  const std::vector<Eigen::Matrix<double, 7, 1>> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t);
 
  static void align_posyaw(const std::vector<Eigen::Matrix<double, 7, 1>> &traj_es, const std::vector<Eigen::Matrix<double, 7, 1>> &traj_gt,
                           Eigen::Matrix3d &R, Eigen::Vector3d &t, int n_aligned = -1);
 
  static void align_se3_single(const std::vector<Eigen::Matrix<double, 7, 1>> &traj_es,
                               const std::vector<Eigen::Matrix<double, 7, 1>> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t);
 
  static void align_se3(const std::vector<Eigen::Matrix<double, 7, 1>> &traj_es, const std::vector<Eigen::Matrix<double, 7, 1>> &traj_gt,
                        Eigen::Matrix3d &R, Eigen::Vector3d &t, int n_aligned = -1);
 
  static void align_sim3(const std::vector<Eigen::Matrix<double, 7, 1>> &traj_es, const std::vector<Eigen::Matrix<double, 7, 1>> &traj_gt,
                         Eigen::Matrix3d &R, Eigen::Vector3d &t, double &s, int n_aligned = -1);
};
 
} // namespace ov_eval
 
#endif /* OV_EVAL_ALIGNTRAJECTORY_H */