FrobeniusFactor.cpp

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010-2019, 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
 
 * -------------------------------------------------------------------------- */
 
#include <gtsam/slam/FrobeniusFactor.h>
 
using namespace std;
 
namespace gtsam {
 
//******************************************************************************
SharedNoiseModel
ConvertNoiseModel(const SharedNoiseModel &model, size_t d, bool defaultToUnit) {
  double sigma = 1.0;
 
  if (model != nullptr) {
    const auto &robust = std::dynamic_pointer_cast<noiseModel::Robust>(model);
    Vector sigmas;
    if (robust) {
      sigmas = robust->noise()->sigmas();
    } else {
      sigmas = model->sigmas();
    }
 
    size_t n = sigmas.size();
    if (n == 1) {
      sigma = sigmas(0); // Rot2
      goto exit;
    }
    else if (n == 3 || n == 6) {
      sigma = sigmas(2); // Pose2, Rot3, or Pose3
      if (sigmas(0) != sigma || sigmas(1) != sigma) {
        if (!defaultToUnit) {
          throw std::runtime_error("Can only convert isotropic rotation noise");
        }
      }
      goto exit;
    }
    if (!defaultToUnit) {
      throw std::runtime_error("Can only convert Pose2/Pose3 noise models");
    }
  }
  exit:
  auto isoModel = noiseModel::Isotropic::Sigma(d, sigma);
  const auto &robust = std::dynamic_pointer_cast<noiseModel::Robust>(model);
  if (robust) {
    return noiseModel::Robust::Create(
        noiseModel::mEstimator::Huber::Create(1.345), isoModel);
  } else {
    return std::move(isoModel);
  }
}
 
//******************************************************************************
 
} // namespace gtsam