isometry3d_mappings.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat, G. Grisetti, R. Kümmerle, W. Burgard
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#ifndef G2O_ISOMETRY3D_MAPPINGS_H_
#define G2O_ISOMETRY3D_MAPPINGS_H_

#include "g2o_types_slam3d_api.h"
#include "se3quat.h"
#include <Eigen/Core>
#include <Eigen/Geometry>

namespace g2o {

  typedef Eigen::Matrix<double, 6, 1, Eigen::ColMajor> Vector6d;
  typedef Eigen::Matrix<double, 7, 1, Eigen::ColMajor> Vector7d;

  namespace internal {

    inline Isometry3D::ConstLinearPart extractRotation(const Isometry3D& A)
    {
      return A.matrix().topLeftCorner<3,3>();
    }

    template <typename Derived>
    void nearestOrthogonalMatrix(const Eigen::MatrixBase<Derived>& R)
    {
      Eigen::JacobiSVD<Matrix3D> svd(R, Eigen::ComputeFullU | Eigen::ComputeFullV);
      double det = (svd.matrixU() * svd.matrixV().adjoint()).determinant();
      Matrix3D scaledU(svd.matrixU());
      scaledU.col(0) /= det;
      const_cast<Eigen::MatrixBase<Derived>&>(R) = scaledU * svd.matrixV().transpose();
    }

    template <typename Derived>
    void approximateNearestOrthogonalMatrix(const Eigen::MatrixBase<Derived>& R)
    {
      Matrix3D E = R.transpose() * R;
      E.diagonal().array() -= 1;
      const_cast<Eigen::MatrixBase<Derived>&>(R) -= 0.5 * R * E;
    }

    G2O_TYPES_SLAM3D_API Eigen::Quaterniond normalized(const Eigen::Quaterniond& q);
    G2O_TYPES_SLAM3D_API Eigen::Quaterniond& normalize(Eigen::Quaterniond& q);

    // functions to handle the rotation part
    G2O_TYPES_SLAM3D_API Vector3D toEuler(const Matrix3D& R);
    G2O_TYPES_SLAM3D_API Matrix3D fromEuler(const Vector3D& v);
    G2O_TYPES_SLAM3D_API Vector3D toCompactQuaternion(const Matrix3D& R);
    G2O_TYPES_SLAM3D_API Matrix3D fromCompactQuaternion(const Vector3D& v);

    // functions to handle the toVector of the whole transformations
    G2O_TYPES_SLAM3D_API Vector6d toVectorMQT(const Isometry3D& t);
    G2O_TYPES_SLAM3D_API Vector6d toVectorET(const Isometry3D& t);
    G2O_TYPES_SLAM3D_API Vector7d toVectorQT(const Isometry3D& t);

    G2O_TYPES_SLAM3D_API Isometry3D fromVectorMQT(const Vector6d& v);
    G2O_TYPES_SLAM3D_API Isometry3D fromVectorET(const Vector6d& v);
    G2O_TYPES_SLAM3D_API Isometry3D fromVectorQT(const Vector7d& v);

    G2O_TYPES_SLAM3D_API SE3Quat toSE3Quat(const Isometry3D& t);
    G2O_TYPES_SLAM3D_API Isometry3D fromSE3Quat(const SE3Quat& t);

  } // end namespace internal
} // end namespace g2o

#endif