182 lines
4.3 KiB
C++
182 lines
4.3 KiB
C++
// This file is part of Sophus.
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//
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// Copyright 2011 Hauke Strasdat (Imperial College London)
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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#ifndef SOPHUS_SIMILARITY_H
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#define SOPHUS_SIMILARITY_H
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#include "scso3.h"
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#include "se3.h"
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namespace Sophus
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{
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typedef Matrix< double, 7, 1 > Vector7d;
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typedef Matrix< double, 7, 7 > Matrix7d;
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/**
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* This class implements the Lie group and the corresponding Lie
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* algebra of 3D similarity transformationns Sim3 as described in:
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*
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* > H. Strasdat, J.M.M. Montiel, A.J. Davison:
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* "Scale Drift-Aware Large Scale Monocular SLAM",
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* Proc. of Robotics: Science and Systems (RSS),
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* Zaragoza, Spain, 2010.
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* http://www.roboticsproceedings.org/rss06/p10.html
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*/
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class Sim3
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Sim3 ();
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Sim3 (const ScSO3& scso3,
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const Vector3d & t);
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Sim3 (double s,
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const Matrix3d & R,
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const Vector3d & t);
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Sim3 (const Quaterniond& q,
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const Vector3d & t);
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Sim3 (const Sim3 & sim3);
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static Sim3
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from_SE3 (const SE3 & se3);
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static SE3
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to_SE3 (const Sim3 & sim3);
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SE3
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to_SE3 () const;
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Matrix7d
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Adj () const;
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static Sim3
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exp (const Matrix<double,7,1> & vect);
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static Vector7d
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log (const Sim3& sim3);
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Sim3
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inverse () const;
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Sim3 &
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operator*= (const Sim3 & sim3);
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Sim3
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operator* (const Sim3 & sim3) const;
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Matrix4d
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matrix () const;
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Vector3d
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operator* (const Vector3d & xyz) const;
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static Matrix4d
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hat (const Vector7d & omega);
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static Vector7d
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vee (const Matrix4d & Omega);
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static Vector7d
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lieBracket (const Vector7d & omega1,
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const Vector7d & omega2);
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static Matrix7d
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d_lieBracketab_by_d_a (const Vector7d & b);
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SO3
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so3 () const;
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const Vector3d& translation() const
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{
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return translation_;
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}
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Vector3d& translation()
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{
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return translation_;
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}
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const Quaterniond & quaternion() const
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{
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return scso3_.quaternion();
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}
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Quaterniond& quaternion()
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{
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return scso3_.quaternion();
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}
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const ScSO3 & scso3() const
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{
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return scso3_;
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}
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ScSO3& scso3()
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{
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return scso3_;
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}
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Matrix3d rotation_matrix() const
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{
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return scso3_.rotationMatrix();
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}
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double scale() const
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{
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return scso3_.scale();
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}
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Matrix<double,7,1> log() const
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{
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return Sim3::log(*this);
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}
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static const int DoF = 7;
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protected:
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static Matrix3d
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calcW (double theta,
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double sigma,
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double scale,
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const Matrix3d & Omega);
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ScSO3 scso3_;
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Vector3d translation_;
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};
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inline std::ostream& operator <<(std::ostream& out_str,
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const Sim3 & sim3)
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{
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out_str << sim3.scso3() <<
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sim3.translation().transpose() << std::endl;
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return out_str;
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}
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}
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#endif
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