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some changes after review 1

release/4.3a0
akrishnan86 2020-05-05 09:27:27 -04:00
parent 4356c1953d
commit 1c85b99b30
4 changed files with 167 additions and 248 deletions
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95
gtsam/geometry/Line3.cpp
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@ -1,88 +1,60 @@
#include <gtsam/geometry/Line3.h> #include <gtsam/geometry/Line3.h>
#include <cstdlib>
namespace gtsam { namespace gtsam {
Vector6 Line3::points()
{
Vector3 mid;
mid << a_, b_, 0;
Vector3 mid_rot = R_*mid;
Vector3 start = mid_rot + R_.r3();
Vector3 end = mid_rot - R_.r3();
Vector6 start_end;
start_end << start(0), start(1), start(2),
end(0), end(1), end(2);
return start_end;
}
Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const { Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const {
Vector3 w; Vector3 w;
w << v[0], v[1], 0; w << v[0], v[1], 0;
Rot3 eps; Rot3 eps;
if(H) if (H) {
{
OptionalJacobian<3, 3> Dw; OptionalJacobian<3, 3> Dw;
eps = Rot3::Expmap(w, Dw); eps = Rot3::Expmap(w, Dw);
H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0); H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
(*H)(2, 2) = 1; (*H)(2, 2) = 1;
(*H)(3, 3) = 1; (*H)(3, 3) = 1;
} } else {
else
{
eps = Rot3::Expmap(w); eps = Rot3::Expmap(w);
} }
Rot3 Rt = R_ * eps; Rot3 Rt = R_ * eps;
return Line3(Rt, a_ + v[2], b_ + v[3]); return Line3(Rt, a_ + v[2], b_ + v[3]);
} }
Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const { Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const {
Vector3 local_rot; Vector3 local_rot;
Vector4 local; Vector4 local;
Vector2 ab_q(q.V()); Vector2 ab_q(q.V());
if(H) if (H) {
{
OptionalJacobian<3, 3> Dw; OptionalJacobian<3, 3> Dw;
local_rot = Rot3::Logmap(R_.inverse() * q.R(), Dw); local_rot = Rot3::Logmap(R_.inverse() * q.R(), Dw);
H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0); H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
(*H)(2, 2) = 1; (*H)(2, 2) = 1;
(*H)(3, 3) = 1; (*H)(3, 3) = 1;
} } else {
else
{
local_rot = Rot3::Logmap(R_.inverse() * q.R()); local_rot = Rot3::Logmap(R_.inverse() * q.R());
} }
local << local_rot[0], local_rot[1], ab_q[0] - a_, ab_q[1] - b_; local << local_rot[0], local_rot[1], ab_q[0] - a_, ab_q[1] - b_;
return local; return local;
} }
void Line3::print(const std::string &s) const {
void Line3::print(const std::string &s) const
{
std::cout << s << std::endl; std::cout << s << std::endl;
R_.print("R:\n"); R_.print("R:\n");
std::cout << "a: " << a_ << ", b: " << b_ << std::endl; std::cout << "a: " << a_ << ", b: " << b_ << std::endl;
} }
bool Line3::equals(const Line3 &l2, double tol) const {
bool Line3::equals(const Line3 &l2, double tol) const
{
Vector4 diff = localCoordinates(l2); Vector4 diff = localCoordinates(l2);
return fabs(diff[0]) < tol && fabs(diff[1]) < tol return fabs(diff[0]) < tol && fabs(diff[1]) < tol
&& fabs(diff[2]) < tol && fabs(diff[3]) < tol; && fabs(diff[2]) < tol && fabs(diff[3]) < tol;
} }
Point3 Line3::project(OptionalJacobian<3, 4> Dline) const {
Point3 Line3::project(OptionalJacobian<3, 4> Dline) const
{
Vector3 V_0; Vector3 V_0;
V_0 << -b_, a_, 0; V_0 << -b_, a_, 0;
Point3 l = R_*V_0; Unit3 l = R_ * V_0;
if(Dline) if (Dline) {
{
Dline->setZero(); Dline->setZero();
Dline->col(0) = a_ * R_.r3(); Dline->col(0) = a_ * R_.r3();
Dline->col(1) = b_ * R_.r3(); Dline->col(1) = b_ * R_.r3();
@ -92,45 +64,34 @@ Point3 Line3::project(OptionalJacobian<3, 4> Dline) const
return l; return l;
} }
Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline) {
Rot3 wRl = wL.R();
Rot3 wRc = wTc.rotation();
Rot3 cRw = wRc.inverse();
Rot3 cRl = cRw * wRl;
Point3 projectLine(const Line3 &L, Vector2 w_ab = wL.V();
OptionalJacobian<3, 4> Dline) Vector3 t = (wRl.transpose() * wTc.translation());
{ Vector2 c_ab(w_ab[0] - t[0], w_ab[1] - t[1]);
return L.project(Dline);
}
if (Dpose) {
Line3 transformTo(const Pose3 &p, const Line3 &l,
OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline)
{
Rot3 w_R_l = l.R();
Rot3 w_R_c = p.rotation();
Rot3 c_R_w = w_R_c.inverse();
Rot3 c_R_l = c_R_w*w_R_l;
Vector2 ab_w = l.V();
Vector3 t = (w_R_l.transpose()*p.translation());
Vector2 ab_c(ab_w[0] - t[0], ab_w[1] - t[1]);
if(Dpose)
{
// translation due to translation // translation due to translation
Matrix3 c_R_l_mat = c_R_l.matrix(); Matrix3 cRl_mat = cRl.matrix();
Matrix3 l_R_c = c_R_l_mat.transpose(); Matrix3 lRc = cRl_mat.transpose();
Dpose->block<1,3>(2, 3) = -l_R_c.row(0); Dpose->block<1, 3>(2, 3) = -lRc.row(0);
Dpose->block<1,3>(3, 3) = -l_R_c.row(1); Dpose->block<1, 3>(3, 3) = -lRc.row(1);
Dpose->block<1,3>(0, 0) = -l_R_c.row(0); Dpose->block<1, 3>(0, 0) = -lRc.row(0);
Dpose->block<1,3>(1, 0) = -l_R_c.row(1); Dpose->block<1, 3>(1, 0) = -lRc.row(1);
} }
if(Dline) if (Dline) {
{
Dline->col(0) << 1.0, 0.0, 0.0, -t[2]; Dline->col(0) << 1.0, 0.0, 0.0, -t[2];
Dline->col(1) << 0.0, 1.0, t[2], 0.0; Dline->col(1) << 0.0, 1.0, t[2], 0.0;
Dline->col(2) << 0.0, 0.0, 1.0, 0.0; Dline->col(2) << 0.0, 0.0, 1.0, 0.0;
Dline->col(3) << 0.0, 0.0, 0.0, 1.0; Dline->col(3) << 0.0, 0.0, 0.0, 1.0;
} }
return Line3(c_R_l, ab_c[0], ab_c[1]); return Line3(cRl, c_ab[0], c_ab[1]);
} }
} }

82
gtsam/geometry/Line3.h
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@ -18,13 +18,7 @@
#include <gtsam/base/concepts.h> #include <gtsam/base/concepts.h>
#include <gtsam/geometry/Rot3.h> #include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/slam/expressions.h>
#include <boost/random.hpp>
#include <cstdlib>
#include <ctime>
namespace gtsam { namespace gtsam {
@ -36,31 +30,23 @@ namespace gtsam{
class Line3 { class Line3 {
private: private:
Rot3 R_; // Rotation of line about x and y in world frame Rot3 R_; // Rotation of line about x and y in world frame
double a_, b_; // Intersection of line with x-y world plane double a_, b_; // Intersection of line with the world x-y plane rotated by R_
// Also the closest point on line to origin
public: public:
enum { dimension = 4 }; enum { dimension = 4 };
/** Default constructor is the Z axis **/ /** Default constructor is the Z axis **/
Line3() : Line3() :
a_(0), b_(0) a_(0), b_(0) {}
{}
/** Constructor: /** Constructor:
* Parallel to z axis, intersecting x-y plane at (a,b) **/ * Parallel to z axis, intersecting x-y plane at (a,b) **/
Line3(const double a, const double b) : Line3(const double a, const double b) :
a_(a), b_(b) a_(a), b_(b) {}
{}
/** Constructor for general line from (R, a, b) **/ /** Constructor for general line from (R, a, b) **/
Line3(const Rot3 &R, const double a, const double b) : Line3(const Rot3 &R, const double a, const double b) :
R_(R), a_(a), b_(b) R_(R), a_(a), b_(b) {}
{}
/** Sample two points lying on the line
* @return Vector6 where first 3 elements are one point, and
* next 3 elements are another point **/
Vector6 points();
/** /**
* The retract method maps from the tangent space back to the manifold. * The retract method maps from the tangent space back to the manifold.
@ -77,7 +63,7 @@ public:
* between two lines in the tangent space. * between two lines in the tangent space.
* @param q Line3 on manifold * @param q Line3 on manifold
* @param H OptionalJacobian of localCoordinates with respect to line * @param H OptionalJacobian of localCoordinates with respect to line
* @return Vector4 difference in the tangent space * @return difference in the tangent space
*/ */
Vector4 localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H = boost::none) const; Vector4 localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H = boost::none) const;
@ -85,8 +71,7 @@ public:
* Rotation of line accessor * Rotation of line accessor
* @return Rot3 * @return Rot3
*/ */
Rot3 R() const Rot3 R() const {
{
return R_; return R_;
} }
@ -94,8 +79,7 @@ public:
* Accessor for a, b * Accessor for a, b
* @return Vector2(a, b) * @return Vector2(a, b)
*/ */
Vector2 V() const Vector2 V() const {
{
return Vector2(a_, b_); return Vector2(a_, b_);
} }
@ -114,9 +98,10 @@ public:
bool equals(const Line3 &l2, double tol = 10e-9) const; bool equals(const Line3 &l2, double tol = 10e-9) const;
/** /**
* Projecting a line to an image plane * Projecting a line to the image plane. Assumes this line is in camera frame.
* @param Dline: OptionalJacobian of projected line with respect to this line * @param Dline: OptionalJacobian of projected line with respect to this line
* @return Point3 - projected line in image plane * @return Unit3 - projected line in image plane, in homogenous coordinates.
* We use Unit3 since it is a manifold with the right dimension.
*/ */
Point3 project(OptionalJacobian<3, 4> Dline = boost::none) const; Point3 project(OptionalJacobian<3, 4> Dline = boost::none) const;
}; };
@ -127,52 +112,15 @@ struct traits<Line3> : public internal::Manifold<Line3> {};
template<> template<>
struct traits<const Line3> : public internal::Manifold<Line3> {}; struct traits<const Line3> : public internal::Manifold<Line3> {};
// For expression factor graphs
typedef Expression<Line3> Line3_;
/**
* Function projects input line to image plane
* @param L input line
* @param Dline OptionalJacbian of projected line with respect to input line
* @return Point3 - projected line
*/
Point3 projectLine(const Line3 &L,
OptionalJacobian<3, 4> Dline = boost::none);
/** /**
* Transform a line from world to camera frame * Transform a line from world to camera frame
* @param p - Pose3 of camera in world frame * @param wTc - Pose3 of camera in world frame
* @param l - Line3 in world frame * @param wL - Line3 in world frame
* @param Dpose - OptionalJacobian of transformed line with respect to p * @param Dpose - OptionalJacobian of transformed line with respect to p
* @param Dline - OptionalJacobian of transformed line with respect to l * @param Dline - OptionalJacobian of transformed line with respect to l
* @return Transformed line in camera frame * @return Transformed line in camera frame
*/ */
Line3 transformTo(const Pose3 &p, const Line3 &l, Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
OptionalJacobian<4, 6> Dpose = boost::none, OptionalJacobian<4, 6> Dpose = boost::none,
OptionalJacobian<4, 4> Dline = boost::none); OptionalJacobian<4, 4> Dline = boost::none);
/**
* Expression method for projection
* @param line Line3_ expression
* @return Point3_ projected line
*/
inline Point3_ projectLineExpression(const Line3_& line)
{
Point3 (*f)(const Line3&, OptionalJacobian<3, 4>) = &projectLine;
return Point3_(f, line);
}
/**
* Expression method for transforming line
* @param p - Pose3_ expression
* @param line - Line3 expression
* @return transformed Line3_ expression
*/
inline Line3_ transformToExpression(const Pose3_& p, const Line3_& line)
{
Line3 (*f)(const Pose3&, const Line3&,
OptionalJacobian<4,6>, OptionalJacobian<4,4>) = &transformTo;
return Line3_(f, p, line);
}
} }

14
gtsam/geometry/tests/testLine3.cpp
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@ -2,6 +2,7 @@
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Line3.h> #include <gtsam/geometry/Line3.h>
#include <gtsam/slam/expressions.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/expressionTesting.h> #include <gtsam/nonlinear/expressionTesting.h>
@ -117,7 +118,7 @@ TEST(Line3, transformToExpressionJacobians)
val.insert(2, p); val.insert(2, p);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(4, 0.1); SharedNoiseModel model = noiseModel::Isotropic::Sigma(4, 0.1);
ExpressionFactor<Line3> f(model, transformTo(p, l_w), transformToExpression(p_, l_)); ExpressionFactor<Line3> f(model, transformTo(p, l_w), transformTo(p_, l_));
EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7); EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7);
} }
@ -127,17 +128,18 @@ TEST(Line3, projection)
{ {
Rot3 r; Rot3 r;
r = r.Expmap(Vector3(0, 0, 0)); r = r.Expmap(Vector3(0, 0, 0));
Line3 l_w(r, 1, 1); Line3 wL(r, 1, 1);
Point3 expected(-1, 1, 0); Point3 expected(-1, 1, 0);
EXPECT(expected.equals(projectLine(l_w))); EXPECT(expected.equals(wL.project()));
Values val; Values val;
val.insert(1, l_w); val.insert(1, wL);
Line3_ l_w_(1); Line3_ wL_(1);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.1); SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.1);
ExpressionFactor<Point3> f(model, expected, projectLineExpression(l_w_)); Point3_ projected_(wL_, &Line3::project);
ExpressionFactor<Point3> f(model, expected, projected_);
EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7); EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7);
} }

8
gtsam/slam/expressions.h
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@ -11,6 +11,7 @@
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Line3.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
namespace gtsam { namespace gtsam {
@ -31,6 +32,7 @@ typedef Expression<Point3> Point3_;
typedef Expression<Unit3> Unit3_; typedef Expression<Unit3> Unit3_;
typedef Expression<Rot3> Rot3_; typedef Expression<Rot3> Rot3_;
typedef Expression<Pose3> Pose3_; typedef Expression<Pose3> Pose3_;
typedef Expression<Line3> Line3_;
inline Point3_ transformTo(const Pose3_& x, const Point3_& p) { inline Point3_ transformTo(const Pose3_& x, const Point3_& p) {
return Point3_(x, &Pose3::transformTo, p); return Point3_(x, &Pose3::transformTo, p);
@ -40,6 +42,12 @@ inline Point3_ transformFrom(const Pose3_& x, const Point3_& p) {
return Point3_(x, &Pose3::transformFrom, p); return Point3_(x, &Pose3::transformFrom, p);
} }
inline Line3_ transformTo(const Pose3_ &wTc, const Line3_ &wL) {
Line3 (*f)(const Pose3 &, const Line3 &,
OptionalJacobian<4, 6>, OptionalJacobian<4, 4>) = &transformTo;
return Line3_(f, wTc, wL);
}
namespace internal { namespace internal {
// define getter that returns value rather than reference // define getter that returns value rather than reference
inline Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) { inline Rot3 rotation(const Pose3& pose, OptionalJacobian<3, 6> H) {