isometry3d_mappings.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat, G. Grisetti, R. Kümmerle, W. Burgard
// All rights reserved.
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#ifndef G2O_ISOMETRY3D_MAPPINGS_H_
#define G2O_ISOMETRY3D_MAPPINGS_H_
 
#include <Eigen/Core>
 
#include "g2o_types_slam3d_api.h"
#include "se3quat.h"
 
namespace g2o {

namespace internal {

inline Isometry3::ConstLinearPart extractRotation(const Isometry3& A) {
  return A.matrix().topLeftCorner<3, 3>();
}

template <typename Derived>
void nearestOrthogonalMatrix(const Eigen::MatrixBase<Derived>& R) {
  Eigen::JacobiSVD<Matrix3> svd(R, Eigen::ComputeFullU | Eigen::ComputeFullV);
  double det = (svd.matrixU() * svd.matrixV().adjoint()).determinant();
  Matrix3 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) {
  Matrix3 E = R.transpose() * R;
  E.diagonal().array() -= 1;
  const_cast<Eigen::MatrixBase<Derived>&>(R) -= 0.5 * R * E;
}

G2O_TYPES_SLAM3D_API Quaternion normalized(const Quaternion& q);
G2O_TYPES_SLAM3D_API Quaternion& normalize(Quaternion& q);
 
// functions to handle the rotation part
G2O_TYPES_SLAM3D_API Vector3 toEuler(const Matrix3& R);
G2O_TYPES_SLAM3D_API Matrix3 fromEuler(const Vector3& v);
G2O_TYPES_SLAM3D_API Vector3 toCompactQuaternion(const Matrix3& R);
G2O_TYPES_SLAM3D_API Matrix3 fromCompactQuaternion(const Vector3& v);
 
// functions to handle the toVector of the whole transformations
G2O_TYPES_SLAM3D_API Vector6 toVectorMQT(const Isometry3& t);
G2O_TYPES_SLAM3D_API Vector6 toVectorET(const Isometry3& t);
G2O_TYPES_SLAM3D_API Vector7 toVectorQT(const Isometry3& t);

G2O_TYPES_SLAM3D_API Isometry3 fromVectorMQT(const Vector6& v);
G2O_TYPES_SLAM3D_API Isometry3 fromVectorET(const Vector6& v);
G2O_TYPES_SLAM3D_API Isometry3 fromVectorQT(const Vector7& v);

G2O_TYPES_SLAM3D_API SE3Quat toSE3Quat(const Isometry3& t);
G2O_TYPES_SLAM3D_API Isometry3 fromSE3Quat(const SE3Quat& t);
 
}  // end namespace internal
}  // end namespace g2o
 
#endif