edge_sbacam_gravity.h
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1 /*
2 Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
32 #ifndef RTAB_G2O_EDGE_SBACAM_GRAVITY_H_
33 #define RTAB_G2O_EDGE_SBACAM_GRAVITY_H_
34 
35 #include "g2o/types/sba/types_sba.h"
36 #include "g2o/core/base_unary_edge.h"
37 namespace rtabmap {
42 class EdgeSBACamGravity : public g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 6, 1>, g2o::VertexCam> {
43  public:
46  information().setIdentity();
47  }
48  virtual bool read(std::istream& is) {return false;} // not implemented
49  virtual bool write(std::ostream& os) const {return false;} // not implemented
50 
51  void setCameraInvLocalTransform(const Eigen::Matrix3d & t)
52  {
54  }
55 
56  // return the error estimate as a 3-vector
57  void computeError(){
58  const g2o::VertexCam* v1 = static_cast<const g2o::VertexCam*>(_vertices[0]);
59 
60  Eigen::Vector3d direction = _measurement.head<3>();
61  Eigen::Vector3d measurement = _measurement.tail<3>();
62 
63  Eigen::Vector3d ea;
64 
65  // Transform pose from camera frame to world frame
66  Eigen::Matrix3d t = v1->estimate().rotation().toRotationMatrix() * cameraInvLocalTransform_;
67  ea[0] = atan2(t (2, 1), t (2, 2));
68  ea[1] = asin(-t (2, 0));
69  ea[2] = atan2(t (1, 0), t (0, 0));
70 
71  Eigen::Matrix3d rot =
72  (Eigen::AngleAxisd(ea[1], Eigen::Vector3d::UnitY()) *
73  Eigen::AngleAxisd(ea[0], Eigen::Vector3d::UnitX())).toRotationMatrix();
74 
75  Eigen::Vector3d estimate = rot * -direction;
76  _error = estimate - measurement;
77 
78  /*printf("%d : measured=%f %f %f est=%f %f %f error=%f %f %f\n", v1->id(),
79  measurement[0], measurement[1], measurement[2],
80  estimate[0], estimate[1], estimate[2],
81  _error[0], _error[1], _error[2]);*/
82  }
83 
84  // 6 values:
85  // [0:2] Up vector in robot frame
86  // [3:5] Observed gravity vector in world frame
88  _measurement.head<3>() = m.head<3>().normalized();
89  _measurement.tail<3>() = m.tail<3>().normalized();
90  }
91 
92  private:
93  Eigen::Matrix3d cameraInvLocalTransform_;
94  };
95 
96 }
97 #endif
v1
v1
rtabmap::EdgeSBACamGravity::cameraInvLocalTransform_
Eigen::Matrix3d cameraInvLocalTransform_
Definition: edge_sbacam_gravity.h:93
rtabmap::EdgeSBACamGravity::write
virtual bool write(std::ostream &os) const
Definition: edge_sbacam_gravity.h:49
rtabmap::EdgeSBACamGravity::computeError
void computeError()
Definition: edge_sbacam_gravity.h:57
glm::asin
GLM_FUNC_DECL genType asin(genType const &x)
rtabmap::EdgeSBACamGravity::read
virtual bool read(std::istream &is)
Definition: edge_sbacam_gravity.h:48
rot
int EIGEN_BLAS_FUNC() rot(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy, RealScalar *pc, RealScalar *ps)
m
Matrix3f m
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW
atan2
AnnoyingScalar atan2(const AnnoyingScalar &y, const AnnoyingScalar &x)
Eigen::AngleAxisd
AngleAxis< double > AngleAxisd
rtabmap::EdgeSBACamGravity::setMeasurement
virtual void setMeasurement(const Eigen::Matrix< double, 6, 1 > &m)
Definition: edge_sbacam_gravity.h:87
rtabmap::EdgeSBACamGravity
EdgeSBACamGravity.
Definition: edge_sbacam_gravity.h:42
rtabmap::EdgeSBACamGravity::setCameraInvLocalTransform
void setCameraInvLocalTransform(const Eigen::Matrix3d &t)
Definition: edge_sbacam_gravity.h:51
Eigen::Matrix
t
Point2 t(10, 10)
rtabmap::EdgeSBACamGravity::EdgeSBACamGravity
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeSBACamGravity()
Definition: edge_sbacam_gravity.h:45
rtabmap
Definition: CameraARCore.cpp:35


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:09