edge_se3_calib.cpp

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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
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#include "edge_se3_calib.h"

namespace g2o {

  EdgeSE3Calib::EdgeSE3Calib() :
    BaseMultiEdge<6, Isometry3D>()
  {
    resize(3);
  }

  void EdgeSE3Calib::computeError()
  {
    const VertexSE3* v1 = static_cast<const VertexSE3*>(_vertices[0]);
    const VertexSE3* v2 = static_cast<const VertexSE3*>(_vertices[1]);
    const VertexSE3* calib  = static_cast<const VertexSE3*>(_vertices[2]);
    _error = g2o::internal::toVectorMQT(_measurement.inverse()*calib->estimate().inverse() * v1->estimate().inverse() * v2->estimate()*calib->estimate());
  }

  bool EdgeSE3Calib::write(std::ostream& os) const {
    Vector7d meas=g2o::internal::toVectorQT(_measurement);
    for (int i=0; i<7; i++) os  << meas[i] << " ";
    for (int i=0; i<information().rows(); i++)
      for (int j=i; j<information().cols(); j++) {
        os <<  information()(i,j) << " ";
      }
    return os.good();
  }

  bool EdgeSE3Calib::read(std::istream& is) {
    Vector7d meas;
    for (int i=0; i<7; i++)
      is >> meas[i];
    // normalize the quaternion to recover numerical precision lost by storing as human readable text
    Vector4D::MapType(meas.data()+3).normalize();
    setMeasurement(g2o::internal::fromVectorQT(meas));

    if (is.bad()) {
      return false;
    }
    for ( int i=0; i<information().rows() && is.good(); i++)
      for (int j=i; j<information().cols() && is.good(); j++){
        is >> information()(i,j);
        if (i!=j)
          information()(j,i)=information()(i,j);
      }
    if (is.bad()) {
      //  we overwrite the information matrix with the Identity
      information().setIdentity();
    }
    return true;
  }

} // end namespace