InvDepthFactorVariant2.h

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#pragma once

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/base/numericalDerivative.h>

namespace gtsam {

class InvDepthFactorVariant2: public NoiseModelFactorN<Pose3, Vector3> {
protected:

  // Keep a copy of measurement and calibration for I/O
  Point2 measured_;        
  Cal3_S2::shared_ptr K_;  
  Point3 referencePoint_;  

public:

  typedef NoiseModelFactor2<Pose3, Vector3> Base;

  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef InvDepthFactorVariant2 This;

  typedef std::shared_ptr<This> shared_ptr;

  InvDepthFactorVariant2() :
      measured_(0.0, 0.0), K_(new Cal3_S2(444, 555, 666, 777, 888)) {
  }

  InvDepthFactorVariant2(const Key poseKey, const Key landmarkKey,
      const Point2& measured, const Cal3_S2::shared_ptr& K, const Point3 referencePoint,
      const SharedNoiseModel& model) :
        Base(model, poseKey, landmarkKey), measured_(measured), K_(K), referencePoint_(referencePoint) {}

  ~InvDepthFactorVariant2() override {}

  void print(const std::string& s = "InvDepthFactorVariant2",
      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
    Base::print(s, keyFormatter);
    traits<Point2>::Print(measured_, s + ".z");
  }

  bool equals(const NonlinearFactor& p, double tol = 1e-9) const override {
    const This *e = dynamic_cast<const This*>(&p);
    return e
        && Base::equals(p, tol)
        && traits<Point2>::Equals(this->measured_, e->measured_, tol)
        && this->K_->equals(*e->K_, tol)
        && traits<Point3>::Equals(this->referencePoint_, e->referencePoint_, tol);
  }

  Vector inverseDepthError(const Pose3& pose, const Vector3& landmark) const {
    try {
      // Calculate the 3D coordinates of the landmark in the world frame
      double theta = landmark(0), phi = landmark(1), rho = landmark(2);
      Point3 world_P_landmark = referencePoint_ + Point3(cos(theta)*cos(phi)/rho, sin(theta)*cos(phi)/rho, sin(phi)/rho);
      // Project landmark into Pose2
      PinholeCamera<Cal3_S2> camera(pose, *K_);
      return camera.project(world_P_landmark) - measured_;
    } catch( CheiralityException& e) {
      std::cout << e.what()
          << ": Inverse Depth Landmark [" << DefaultKeyFormatter(this->key<2>()) << "]"
          << " moved behind camera [" << DefaultKeyFormatter(this->key<1>()) <<"]"
          << std::endl;
      return Vector::Ones(2) * 2.0 * K_->fx();
    }
    return (Vector(1) << 0.0).finished();
  }

  Vector evaluateError(const Pose3& pose, const Vector3& landmark,
      OptionalMatrixType H1, OptionalMatrixType H2) const override {

    if (H1) {
      (*H1) = numericalDerivative11<Vector, Pose3>(
          std::bind(&InvDepthFactorVariant2::inverseDepthError, this,
              std::placeholders::_1, landmark), pose);
    }
    if (H2) {
      (*H2) = numericalDerivative11<Vector, Vector3>(
          std::bind(&InvDepthFactorVariant2::inverseDepthError, this, pose,
              std::placeholders::_1), landmark);
    }

    return inverseDepthError(pose, landmark);
  }

  const Point2& imagePoint() const {
    return measured_;
  }

  const Cal3_S2::shared_ptr calibration() const {
    return K_;
  }

  const Point3& referencePoint() const {
    return referencePoint_;
  }

private:

#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION  
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
    ar & BOOST_SERIALIZATION_NVP(measured_);
    ar & BOOST_SERIALIZATION_NVP(K_);
    ar & BOOST_SERIALIZATION_NVP(referencePoint_);
  }
#endif
};

} // \ namespace gtsam