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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2020 Google Inc. All rights reserved.
// http://ceres-solver.org/
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// Author: nikolaus@nikolaus-demmel.de (Nikolaus Demmel)
//
//
#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARK_RELATIVE_POSE_ERROR_H_
#define CERES_INTERNAL_AUTODIFF_BENCHMARK_RELATIVE_POSE_ERROR_H_
#include <Eigen/Dense>
#include <utility>
#include "ceres/rotation.h"
namespace ceres {
// Relative pose error as one might use in SE(3) pose graph optimization.
// The measurement is a relative pose T_i_j, and the parameters are absolute
// poses T_w_i and T_w_j. For the residual we use the log of the the residual
// pose, in split representation SO(3) x R^3.
struct RelativePoseError {
RelativePoseError(Eigen::Quaterniond q_i_j, Eigen::Vector3d t_i_j)
: meas_q_i_j_(std::move(q_i_j)), meas_t_i_j_(std::move(t_i_j)) {}
template <typename T>
inline bool operator()(const T* const pose_i_ptr,
const T* const pose_j_ptr,
T* residuals_ptr) const {
Eigen::Map<const Eigen::Quaternion<T>> q_w_i(pose_i_ptr);
Eigen::Map<const Eigen::Matrix<T, 3, 1>> t_w_i(pose_i_ptr + 4);
Eigen::Map<const Eigen::Quaternion<T>> q_w_j(pose_j_ptr);
Eigen::Map<const Eigen::Matrix<T, 3, 1>> t_w_j(pose_j_ptr + 4);
Eigen::Map<Eigen::Matrix<T, 6, 1>> residuals(residuals_ptr);
// Compute estimate of relative pose from i to j.
const Eigen::Quaternion<T> est_q_j_i = q_w_j.conjugate() * q_w_i;
const Eigen::Matrix<T, 3, 1> est_t_j_i =
q_w_j.conjugate() * (t_w_i - t_w_j);
// Compute residual pose.
const Eigen::Quaternion<T> res_q = meas_q_i_j_.cast<T>() * est_q_j_i;
const Eigen::Matrix<T, 3, 1> res_t =
meas_q_i_j_.cast<T>() * est_t_j_i + meas_t_i_j_;
// Convert quaternion to ceres convention (Eigen stores xyzw, Ceres wxyz).
Eigen::Matrix<T, 4, 1> res_q_ceres;
res_q_ceres << res_q.w(), res_q.vec();
// Residual is log of pose. Use split representation SO(3) x R^3.
QuaternionToAngleAxis(res_q_ceres.data(), residuals.data());
residuals.template bottomRows<3>() = res_t;
return true;
}
private:
// Measurement of relative pose from j to i.
Eigen::Quaterniond meas_q_i_j_;
Eigen::Vector3d meas_t_i_j_;
};
} // namespace ceres
#endif // CERES_INTERNAL_AUTODIFF_BENCHMARK_RELATIVE_POSE_ERROR_H_