SmartStereoProjectionPoseFactor.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, 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

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam_unstable/slam/SmartStereoProjectionFactor.h>

namespace gtsam {
class SmartStereoProjectionPoseFactor: public SmartStereoProjectionFactor {

protected:

  std::vector<boost::shared_ptr<Cal3_S2Stereo> > K_all_; 

public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef SmartStereoProjectionFactor Base;

  typedef SmartStereoProjectionPoseFactor This;

  typedef boost::shared_ptr<This> shared_ptr;

  SmartStereoProjectionPoseFactor(const SharedNoiseModel& sharedNoiseModel,
      const SmartStereoProjectionParams& params = SmartStereoProjectionParams(),
      const boost::optional<Pose3> body_P_sensor = boost::none) :
      Base(sharedNoiseModel, params, body_P_sensor) {
  }

  virtual ~SmartStereoProjectionPoseFactor() {}

  void add(const StereoPoint2 measured, const Key poseKey,
      const boost::shared_ptr<Cal3_S2Stereo> K) {
    Base::add(measured, poseKey);
    K_all_.push_back(K);
  }

  void add(std::vector<StereoPoint2> measurements, KeyVector poseKeys,
      std::vector<boost::shared_ptr<Cal3_S2Stereo> > Ks) {
    Base::add(measurements, poseKeys);
    for (size_t i = 0; i < measurements.size(); i++) {
      K_all_.push_back(Ks.at(i));
    }
  }

  void add(std::vector<StereoPoint2> measurements, KeyVector poseKeys,
      const boost::shared_ptr<Cal3_S2Stereo> K) {
    for (size_t i = 0; i < measurements.size(); i++) {
      Base::add(measurements.at(i), poseKeys.at(i));
      K_all_.push_back(K);
    }
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
      DefaultKeyFormatter) const {
    std::cout << s << "SmartStereoProjectionPoseFactor, z = \n ";
    for(const boost::shared_ptr<Cal3_S2Stereo>& K: K_all_)
    K->print("calibration = ");
    Base::print("", keyFormatter);
  }

  virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const {
    const SmartStereoProjectionPoseFactor *e =
        dynamic_cast<const SmartStereoProjectionPoseFactor*>(&p);

    return e && Base::equals(p, tol);
  }

  virtual double error(const Values& values) const {
    if (this->active(values)) {
      return this->totalReprojectionError(cameras(values));
    } else { // else of active flag
      return 0.0;
    }
  }

  inline const std::vector<boost::shared_ptr<Cal3_S2Stereo> > calibration() const {
    return K_all_;
  }

   Base::Cameras cameras(const Values& values) const {
    Base::Cameras cameras;
    size_t i=0;
    for(const Key& k: this->keys_) {
      Pose3 pose = values.at<Pose3>(k);

      if (Base::body_P_sensor_)
          pose = pose.compose(*(Base::body_P_sensor_));

      StereoCamera camera(pose, K_all_[i++]);
      cameras.push_back(camera);
    }
    return cameras;
  }

private:

  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(K_all_);
  }

}; // end of class declaration

template<>
struct traits<SmartStereoProjectionPoseFactor> : public Testable<
    SmartStereoProjectionPoseFactor> {
};

} // \ namespace gtsam