edge_se3_plane_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
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#include <iostream>
#include "edge_se3_plane_calib.h"

#include "g2o/stuff/opengl_wrapper.h"

namespace g2o
{
  using namespace std;
  using namespace Eigen;

  EdgeSE3PlaneSensorCalib::EdgeSE3PlaneSensorCalib() :
    BaseMultiEdge<3, Plane3D>()
  {
    resize(3);
    color << 0.1, 0.1, 0.1;
  }

  bool EdgeSE3PlaneSensorCalib::read(std::istream& is)
  {
    Vector4D v;
    is >> v(0) >> v(1) >> v(2) >> v(3);
    setMeasurement(Plane3D(v));
    is >> color(0) >> color(1) >> color(2);
    for (int i = 0; i < information().rows(); ++i)
      for (int j = i; j < information().cols(); ++j) {
        is >> information()(i, j);
        if (i != j)
          information()(j, i) = information()(i, j);
      }
    return true;
  }

  bool EdgeSE3PlaneSensorCalib::write(std::ostream& os) const
  {
    Vector4D v = _measurement.toVector();
    os << v(0) << " " << v(1) << " " << v(2) << " " << v(3) << " ";
    os << color(0) << " " << color(1) << " " << color(2) << " ";
    for (int i = 0; i < information().rows(); ++i)
      for (int j = i; j < information().cols(); ++j)
        os << " " << information()(i, j);
    return os.good();
  }


#ifdef G2O_HAVE_OPENGL

  EdgeSE3PlaneSensorCalibDrawAction::EdgeSE3PlaneSensorCalibDrawAction(): DrawAction(typeid(EdgeSE3PlaneSensorCalib).name()){
  }

  bool EdgeSE3PlaneSensorCalibDrawAction::refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_){
    if (!DrawAction::refreshPropertyPtrs(params_))
      return false;
    if (_previousParams){
      _planeWidth = _previousParams->makeProperty<FloatProperty>(_typeName + "::PLANE_WIDTH", 3.0f);
      _planeHeight = _previousParams->makeProperty<FloatProperty>(_typeName + "::PLANE_HEIGHT", 3.0f);
    } else {
      _planeWidth = 0;
      _planeHeight = 0;
    }
    return true;
  }

  HyperGraphElementAction* EdgeSE3PlaneSensorCalibDrawAction::operator()(HyperGraph::HyperGraphElement* element,
                 HyperGraphElementAction::Parameters* params_)
  {
    if (typeid(*element).name()!=_typeName)
      return 0;

    refreshPropertyPtrs(params_);
    if (! _previousParams)
      return this;

    if (_show && !_show->value())
      return this;

    EdgeSE3PlaneSensorCalib* that = dynamic_cast<EdgeSE3PlaneSensorCalib*>(element);

    if (! that)
      return this;

    const VertexSE3* robot  = dynamic_cast<const VertexSE3*>(that->vertex(0));
    const VertexSE3* sensor = dynamic_cast<const VertexSE3*>(that->vertex(2));

    if (! robot|| ! sensor)
      return 0;

    double d=that->measurement().distance();
    double azimuth=Plane3D::azimuth(that->measurement().normal());
    double elevation=Plane3D::elevation(that->measurement().normal());

    glColor3f(float(that->color(0)), float(that->color(1)), float(that->color(2)));
    glPushMatrix();
    Isometry3D robotAndSensor = robot->estimate() * sensor->estimate();
    glMultMatrixd(robotAndSensor.matrix().data());

    glRotatef(float(RAD2DEG(azimuth)), 0.f, 0.f, 1.f);
    glRotatef(float(RAD2DEG(elevation)), 0.f, -1.f, 0.f);
    glTranslatef(float(d), 0.f, 0.f);

    float planeWidth = 0.5f;
    float planeHeight = 0.5f;
    if (0) {
      planeWidth = _planeWidth->value();
      planeHeight = _planeHeight->value();
    }
    if (_planeWidth && _planeHeight){
      glBegin(GL_QUADS);
      glNormal3f(-1,0,0);
      glVertex3f(0,-planeWidth, -planeHeight);
      glVertex3f(0, planeWidth, -planeHeight);
      glVertex3f(0, planeWidth,  planeHeight);
      glVertex3f(0,-planeWidth,  planeHeight);
      glEnd();
    }

    glPopMatrix();

    return this;
  }
#endif

} // end namespace