forked from logzhan/ORB-SLAM3-UESTC
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
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#ifndef SOPHUS_TEST_LOCAL_PARAMETERIZATION_SE3_HPP
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#define SOPHUS_TEST_LOCAL_PARAMETERIZATION_SE3_HPP
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#include <ceres/local_parameterization.h>
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#include <sophus/se3.hpp>
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namespace Sophus {
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namespace test {
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class LocalParameterizationSE3 : public ceres::LocalParameterization {
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public:
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virtual ~LocalParameterizationSE3() {}
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// SE3 plus operation for Ceres
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//
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// T * exp(x)
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//
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virtual bool Plus(double const* T_raw, double const* delta_raw,
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double* T_plus_delta_raw) const {
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Eigen::Map<SE3d const> const T(T_raw);
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Eigen::Map<Vector6d const> const delta(delta_raw);
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Eigen::Map<SE3d> T_plus_delta(T_plus_delta_raw);
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T_plus_delta = T * SE3d::exp(delta);
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return true;
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}
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// Jacobian of SE3 plus operation for Ceres
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//
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// Dx T * exp(x) with x=0
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//
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virtual bool ComputeJacobian(double const* T_raw,
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double* jacobian_raw) const {
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Eigen::Map<SE3d const> T(T_raw);
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Eigen::Map<Eigen::Matrix<double, 7, 6, Eigen::RowMajor>> jacobian(
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jacobian_raw);
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jacobian = T.Dx_this_mul_exp_x_at_0();
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return true;
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}
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virtual int GlobalSize() const { return SE3d::num_parameters; }
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virtual int LocalSize() const { return SE3d::DoF; }
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};
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} // namespace test
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} // namespace Sophus
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#endif
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