void EdgePointXYCovPointXYCov::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to)
{
assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexSE2 position by VertexPointXYCov");
VertexPointXYCov* vi = static_cast<VertexPointXYCov*>(_vertices[0]);
VertexPointXYCov* vj = static_cast<VertexPointXYCov*>(_vertices[1]);
if (from.count(vi) > 0 && to == vj) {
vj->estimate() = vi->estimate(); // * _measurement;
}
}
void EdgeSE2PointXYCalib::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/)
{
assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexSE2 position by VertexPointXY");
if (from.count(_vertices[0]) != 1)
return;
VertexSE2* vi = static_cast<VertexSE2*>(_vertices[0]);
VertexPointXY* vj = static_cast<VertexPointXY*>(_vertices[1]);
vj->setEstimate(vi->estimate() * _measurement);
}
void EdgeSE3PointXYZDepth::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to_*/)
{
(void) from;
assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");
VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
const Eigen::Matrix<double, 3, 3>& invKcam = params->invKcam();
Eigen::Vector3d p;
p(2) = _measurement(2);
p.head<2>() = _measurement.head<2>()*p(2);
p=invKcam*p;
point->setEstimate(cam->estimate() * (params->offsetMatrix() * p));
}
void EdgeSE2PointXYBearing::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/)
{
assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexSE2 position by VertexPointXY");
if (from.count(_vertices[0]) != 1)
return;
double r=2.;
const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
VertexPointXY* l2 = static_cast<VertexPointXY*>(_vertices[1]);
SE2 t=v1->estimate();
t.setRotation(t.rotation().angle()+_measurement);
Vector2d vr;
vr[0]=r; vr[1]=0;
l2->setEstimate(t*vr);
}
void EdgeSE3PointXYZ::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to_*/)
{
(void) from;
assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");
VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
// SE3OffsetCache* vcache = (SE3OffsetCache* ) cam->getCache(_cacheIds[0]);
// if (! vcache){
// cerr << "fatal error in retrieving cache" << endl;
// }
// SE3OffsetParameters* params=vcache->params;
Eigen::Vector3d p=_measurement;
point->setEstimate(cam->estimate() * (offsetParam->offset() * p));
}
void EdgeSE3PointXYZDisparity::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/)
{
(void) from;
assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");
VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
// VertexCameraCache* vcache = (VertexCameraCache* ) cam->getCache(_cacheIds[0]);
// if (! vcache){
// cerr << "fatal error in retrieving cache" << endl;
// }
//ParameterCamera* params=vcache->params;
const Eigen::Matrix<double, 3, 3>& invKcam = params->invKcam();
Eigen::Vector3d p;
double w=1./_measurement(2);
p.head<2>() = _measurement.head<2>()*w;
p(2) = w;
p = invKcam * p;
p = cam->estimate() * (params->offset() * p);
point->setEstimate(p);
}