forked from logzhan/ORB-SLAM3-UESTC
104 lines
3.5 KiB
C++
104 lines
3.5 KiB
C++
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#ifndef SOPHUS_SIM_DETAILS_HPP
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#define SOPHUS_SIM_DETAILS_HPP
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#include "types.hpp"
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namespace Sophus {
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namespace details {
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template <class Scalar, int N>
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Matrix<Scalar, N, N> calcW(Matrix<Scalar, N, N> const& Omega,
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Scalar const theta, Scalar const sigma) {
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using std::abs;
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using std::cos;
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using std::exp;
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using std::sin;
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static Matrix<Scalar, N, N> const I = Matrix<Scalar, N, N>::Identity();
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static Scalar const one(1);
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static Scalar const half(0.5);
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Matrix<Scalar, N, N> const Omega2 = Omega * Omega;
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Scalar const scale = exp(sigma);
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Scalar A, B, C;
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if (abs(sigma) < Constants<Scalar>::epsilon()) {
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C = one;
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if (abs(theta) < Constants<Scalar>::epsilon()) {
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A = half;
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B = Scalar(1. / 6.);
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} else {
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Scalar theta_sq = theta * theta;
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A = (one - cos(theta)) / theta_sq;
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B = (theta - sin(theta)) / (theta_sq * theta);
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}
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} else {
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C = (scale - one) / sigma;
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if (abs(theta) < Constants<Scalar>::epsilon()) {
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Scalar sigma_sq = sigma * sigma;
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A = ((sigma - one) * scale + one) / sigma_sq;
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B = (scale * half * sigma_sq + scale - one - sigma * scale) /
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(sigma_sq * sigma);
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} else {
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Scalar theta_sq = theta * theta;
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Scalar a = scale * sin(theta);
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Scalar b = scale * cos(theta);
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Scalar c = theta_sq + sigma * sigma;
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A = (a * sigma + (one - b) * theta) / (theta * c);
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B = (C - ((b - one) * sigma + a * theta) / (c)) * one / (theta_sq);
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}
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}
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return A * Omega + B * Omega2 + C * I;
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}
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template <class Scalar, int N>
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Matrix<Scalar, N, N> calcWInv(Matrix<Scalar, N, N> const& Omega,
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Scalar const theta, Scalar const sigma,
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Scalar const scale) {
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using std::abs;
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using std::cos;
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using std::sin;
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static Matrix<Scalar, N, N> const I = Matrix<Scalar, N, N>::Identity();
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static Scalar const half(0.5);
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static Scalar const one(1);
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static Scalar const two(2);
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Matrix<Scalar, N, N> const Omega2 = Omega * Omega;
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Scalar const scale_sq = scale * scale;
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Scalar const theta_sq = theta * theta;
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Scalar const sin_theta = sin(theta);
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Scalar const cos_theta = cos(theta);
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Scalar a, b, c;
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if (abs(sigma * sigma) < Constants<Scalar>::epsilon()) {
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c = one - half * sigma;
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a = -half;
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if (abs(theta_sq) < Constants<Scalar>::epsilon()) {
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b = Scalar(1. / 12.);
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} else {
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b = (theta * sin_theta + two * cos_theta - two) /
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(two * theta_sq * (cos_theta - one));
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}
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} else {
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Scalar const scale_cu = scale_sq * scale;
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c = sigma / (scale - one);
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if (abs(theta_sq) < Constants<Scalar>::epsilon()) {
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a = (-sigma * scale + scale - one) / ((scale - one) * (scale - one));
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b = (scale_sq * sigma - two * scale_sq + scale * sigma + two * scale) /
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(two * scale_cu - Scalar(6) * scale_sq + Scalar(6) * scale - two);
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} else {
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Scalar const s_sin_theta = scale * sin_theta;
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Scalar const s_cos_theta = scale * cos_theta;
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a = (theta * s_cos_theta - theta - sigma * s_sin_theta) /
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(theta * (scale_sq - two * s_cos_theta + one));
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b = -scale *
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(theta * s_sin_theta - theta * sin_theta + sigma * s_cos_theta -
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scale * sigma + sigma * cos_theta - sigma) /
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(theta_sq * (scale_cu - two * scale * s_cos_theta - scale_sq +
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two * s_cos_theta + scale - one));
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}
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}
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return a * Omega + b * Omega2 + c * I;
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}
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} // namespace details
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} // namespace Sophus
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#endif
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