Program Listing for File edge_room.hpp

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/*
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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef EDGE_ROOM_HPP
#define EDGE_ROOM_HPP

#include <g2o/core/base_binary_edge.h>
#include <g2o/core/base_multi_edge.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/types/slam3d/vertex_se3.h>
#include <g2o/types/slam3d_addons/vertex_plane.h>

#include <Eigen/Dense>

#include "g2o/vertex_floor.hpp"
#include "g2o/vertex_infinite_room.hpp"
#include "g2o/vertex_room.hpp"
namespace g2o {

// ADAPTED FROM G2O SE3 edge
class EdgeRoomRoom
    : public BaseBinaryEdge<6, Eigen::Isometry3d, g2o::VertexRoom, g2o::VertexRoom> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeRoomRoom();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  void computeError();

  virtual void setMeasurement(const Isometry3& m) {
    _measurement = m;
    _inverseMeasurement = m.inverse();
  }

  virtual bool setMeasurementData(const number_t* d) {
    Eigen::Map<const Vector7> v(d);
    setMeasurement(internal::fromVectorQT(v));
    return true;
  }

  virtual bool getMeasurementData(number_t* d) const {
    Eigen::Map<Vector7> v(d);
    v = internal::toVectorQT(_measurement);
    return true;
  }

  void linearizeOplus();

  virtual int measurementDimension() const { return 7; }

  virtual bool setMeasurementFromState();

  virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/,
                                           OptimizableGraph::Vertex* /*to*/) {
    return 1.;
  }

  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);

 protected:
  Isometry3 _inverseMeasurement;
};

class EdgeSE3Room
    : public BaseBinaryEdge<2, Eigen::Vector2d, g2o::VertexSE3, g2o::VertexRoom> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3Room()
      : BaseBinaryEdge<2, Eigen::Vector2d, g2o::VertexSE3, g2o::VertexRoom>() {}

  void computeError() override;

  virtual bool read(std::istream& is) override;

  virtual bool write(std::ostream& os) const override;

  virtual void setMeasurement(const Eigen::Vector2d& m) override { _measurement = m; }
};

class EdgeRoom2Planes : public BaseMultiEdge<2, Eigen::Vector2d> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeRoom2Planes() : BaseMultiEdge<2, Eigen::Vector2d>() { resize(4); }

  void computeError() override;

  virtual bool read(std::istream& is) override;

  virtual bool write(std::ostream& os) const override;

 private:
  void correct_plane_direction(Eigen::Vector4d& plane);
};

class EdgeRoom4Planes : public BaseMultiEdge<2, Eigen::Vector2d> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeRoom4Planes() : BaseMultiEdge<2, Eigen::Vector2d>() { resize(5); }

  void computeError() override;

  virtual bool read(std::istream& is) override;

  virtual bool write(std::ostream& os) const override;

 private:
  void correct_plane_direction(Eigen::Vector4d& plane);
};

class EdgeFloorRoom
    : public BaseBinaryEdge<2, Eigen::Vector2d, g2o::VertexFloor, g2o::VertexRoom> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeFloorRoom()
      : BaseBinaryEdge<2, Eigen::Vector2d, g2o::VertexFloor, g2o::VertexRoom>() {}

  void computeError() override;

  virtual bool read(std::istream& is) override;

  virtual bool write(std::ostream& os) const override;

  virtual void setMeasurement(const Eigen::Vector2d& m) override { _measurement = m; }
};

class Edge2Rooms
    : public BaseBinaryEdge<2, Eigen::Vector2d, g2o::VertexRoom, g2o::VertexRoom> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Edge2Rooms()
      : BaseBinaryEdge<2, Eigen::Vector2d, g2o::VertexRoom, g2o::VertexRoom>() {}

  void computeError() override;

  virtual bool read(std::istream& is) override;

  virtual bool write(std::ostream& os) const override;
};

}  // namespace g2o
#endif  // EDGE_ROOM_HPP