mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sergiu Deitsch
c8658c8992
Apply clang-tidy Google and modernize fixes without trailing return type
using:
$ clang-tidy -p <build-dir> \
-checks='-*,google-*,modernize-*,-modernize-use-trailing-return-type' {} -fix
Change-Id: I7450cc58ea9abf928f73a467e87876083217fa26
88 lines
3.8 KiB
C++
88 lines
3.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2020 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: nikolaus@nikolaus-demmel.de (Nikolaus Demmel)
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//
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//
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#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARK_RELATIVE_POSE_ERROR_H_
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#define CERES_INTERNAL_AUTODIFF_BENCHMARK_RELATIVE_POSE_ERROR_H_
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#include <Eigen/Dense>
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#include <utility>
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#include "ceres/rotation.h"
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namespace ceres {
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// Relative pose error as one might use in SE(3) pose graph optimization.
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// The measurement is a relative pose T_i_j, and the parameters are absolute
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// poses T_w_i and T_w_j. For the residual we use the log of the the residual
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// pose, in split representation SO(3) x R^3.
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struct RelativePoseError {
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RelativePoseError(Eigen::Quaterniond q_i_j, Eigen::Vector3d t_i_j)
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: meas_q_i_j_(std::move(q_i_j)), meas_t_i_j_(std::move(t_i_j)) {}
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template <typename T>
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inline bool operator()(const T* const pose_i_ptr,
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const T* const pose_j_ptr,
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T* residuals_ptr) const {
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Eigen::Map<const Eigen::Quaternion<T>> q_w_i(pose_i_ptr);
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Eigen::Map<const Eigen::Matrix<T, 3, 1>> t_w_i(pose_i_ptr + 4);
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Eigen::Map<const Eigen::Quaternion<T>> q_w_j(pose_j_ptr);
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Eigen::Map<const Eigen::Matrix<T, 3, 1>> t_w_j(pose_j_ptr + 4);
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Eigen::Map<Eigen::Matrix<T, 6, 1>> residuals(residuals_ptr);
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// Compute estimate of relative pose from i to j.
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const Eigen::Quaternion<T> est_q_j_i = q_w_j.conjugate() * q_w_i;
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const Eigen::Matrix<T, 3, 1> est_t_j_i =
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q_w_j.conjugate() * (t_w_i - t_w_j);
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// Compute residual pose.
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const Eigen::Quaternion<T> res_q = meas_q_i_j_.cast<T>() * est_q_j_i;
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const Eigen::Matrix<T, 3, 1> res_t =
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meas_q_i_j_.cast<T>() * est_t_j_i + meas_t_i_j_;
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// Convert quaternion to ceres convention (Eigen stores xyzw, Ceres wxyz).
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Eigen::Matrix<T, 4, 1> res_q_ceres;
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res_q_ceres << res_q.w(), res_q.vec();
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// Residual is log of pose. Use split representation SO(3) x R^3.
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QuaternionToAngleAxis(res_q_ceres.data(), residuals.data());
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residuals.template bottomRows<3>() = res_t;
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return true;
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}
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private:
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// Measurement of relative pose from j to i.
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Eigen::Quaterniond meas_q_i_j_;
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Eigen::Vector3d meas_t_i_j_;
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};
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} // namespace ceres
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#endif // CERES_INTERNAL_AUTODIFF_BENCHMARK_RELATIVE_POSE_ERROR_H_
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