Program Listing for File normal_delta_pose_3d_cost_functor.hpp
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#ifndef FUSE_CONSTRAINTS__NORMAL_DELTA_POSE_3D_COST_FUNCTOR_HPP_
#define FUSE_CONSTRAINTS__NORMAL_DELTA_POSE_3D_COST_FUNCTOR_HPP_
#include <ceres/rotation.h>
#include <fuse_constraints/normal_delta_orientation_3d_cost_functor.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/util.hpp>
namespace fuse_constraints
{
class NormalDeltaPose3DCostFunctor
{
public:
FUSE_MAKE_ALIGNED_OPERATOR_NEW()
NormalDeltaPose3DCostFunctor(const fuse_core::Matrix6d & A, const fuse_core::Vector7d & b);
template<typename T>
bool operator()(
const T * const position1,
const T * const orientation1,
const T * const position2,
const T * const orientation2,
T * residual) const;
private:
fuse_core::Matrix6d A_;
fuse_core::Vector7d b_;
NormalDeltaOrientation3DCostFunctor orientation_functor_;
};
NormalDeltaPose3DCostFunctor::NormalDeltaPose3DCostFunctor(
const fuse_core::Matrix6d & A,
const fuse_core::Vector7d & b)
: A_(A),
b_(b),
orientation_functor_(fuse_core::Matrix3d::Identity(), b_.tail<4>()) // Orientation residuals will
// not be scaled
{
}
template<typename T>
bool NormalDeltaPose3DCostFunctor::operator()(
const T * const position1,
const T * const orientation1,
const T * const position2,
const T * const orientation2,
T * residual) const
{
// Compute the position delta between pose1 and pose2
T orientation1_inverse[4] =
{
orientation1[0],
-orientation1[1],
-orientation1[2],
-orientation1[3]
};
T position_delta[3] =
{
position2[0] - position1[0],
position2[1] - position1[1],
position2[2] - position1[2]
};
T position_delta_rotated[3];
ceres::QuaternionRotatePoint(
orientation1_inverse,
position_delta,
position_delta_rotated);
// Compute the first three residual terms as (position_delta - b)
residual[0] = position_delta_rotated[0] - T(b_[0]);
residual[1] = position_delta_rotated[1] - T(b_[1]);
residual[2] = position_delta_rotated[2] - T(b_[2]);
// Use the 3D orientation cost functor to compute the orientation delta
orientation_functor_(orientation1, orientation2, &residual[3]);
// Map it to Eigen, and weight it
Eigen::Map<Eigen::Matrix<T, 6, 1>> residual_map(residual);
residual_map.applyOnTheLeft(A_.template cast<T>());
return true;
}
} // namespace fuse_constraints
#endif // FUSE_CONSTRAINTS__NORMAL_DELTA_POSE_3D_COST_FUNCTOR_HPP_