edge_se3_expmap.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// 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
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#include "edge_se3_expmap.h"
 
namespace g2o {
 
EdgeSE3Expmap::EdgeSE3Expmap()
    : BaseBinaryEdge<6, SE3Quat, VertexSE3Expmap, VertexSE3Expmap>() {}
 
bool EdgeSE3Expmap::read(std::istream& is) {
  Vector7 meas;
  internal::readVector(is, meas);
  setMeasurement(SE3Quat(meas).inverse());
  return readInformationMatrix(is);
}
 
bool EdgeSE3Expmap::write(std::ostream& os) const {
  internal::writeVector(os, measurement().inverse().toVector());
  return writeInformationMatrix(os);
}
 
void EdgeSE3Expmap::computeError() {
  const VertexSE3Expmap* v1 = static_cast<const VertexSE3Expmap*>(_vertices[0]);
  const VertexSE3Expmap* v2 = static_cast<const VertexSE3Expmap*>(_vertices[1]);
 
  SE3Quat C(_measurement);
  SE3Quat error_ = v2->estimate().inverse() * C * v1->estimate();
  _error = error_.log();
}
 
void EdgeSE3Expmap::linearizeOplus() {
  VertexSE3Expmap* vi = static_cast<VertexSE3Expmap*>(_vertices[0]);
  SE3Quat Ti(vi->estimate());
 
  VertexSE3Expmap* vj = static_cast<VertexSE3Expmap*>(_vertices[1]);
  SE3Quat Tj(vj->estimate());
 
  const SE3Quat& Tij = _measurement;
  SE3Quat invTij = Tij.inverse();
 
  SE3Quat invTj_Tij = Tj.inverse() * Tij;
  SE3Quat infTi_invTij = Ti.inverse() * invTij;
 
  _jacobianOplusXi = invTj_Tij.adj();
  _jacobianOplusXj = -infTi_invTij.adj();
}
 
}  // namespace g2o