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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 <cstdlib>
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 {
Vector3 w;
w << v[0], v[1], 0;
Rot3 eps;
if(H)
{
if (H) {
OptionalJacobian<3, 3> Dw;
eps = Rot3::Expmap(w, Dw);
H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
(*H)(2, 2) = 1;
(*H)(3, 3) = 1;
}
else
{
} else {
eps = Rot3::Expmap(w);
}
Rot3 Rt = R_ * eps;
return Line3(Rt, a_ + v[2], b_ + v[3]);
}
Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const {
Vector3 local_rot;
Vector4 local;
Vector2 ab_q(q.V());
if(H)
{
if (H) {
OptionalJacobian<3, 3> Dw;
local_rot = Rot3::Logmap(R_.inverse() * q.R(), Dw);
H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
(*H)(2, 2) = 1;
(*H)(3, 3) = 1;
}
else
{
} else {
local_rot = Rot3::Logmap(R_.inverse() * q.R());
}
local << local_rot[0], local_rot[1], ab_q[0] - a_, ab_q[1] - b_;
return local;
}
void Line3::print(const std::string &s) const
{
void Line3::print(const std::string &s) const {
std::cout << s << std::endl;
R_.print("R:\n");
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);
return fabs(diff[0]) < tol && fabs(diff[1]) < 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;
V_0 << -b_, a_, 0;
Point3 l = R_*V_0;
if(Dline)
{
Unit3 l = R_ * V_0;
if (Dline) {
Dline->setZero();
Dline->col(0) = a_ * R_.r3();
Dline->col(1) = b_ * R_.r3();
@ -92,45 +64,34 @@ Point3 Line3::project(OptionalJacobian<3, 4> Dline) const
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,
OptionalJacobian<3, 4> Dline)
{
return L.project(Dline);
}
Vector2 w_ab = wL.V();
Vector3 t = (wRl.transpose() * wTc.translation());
Vector2 c_ab(w_ab[0] - t[0], w_ab[1] - t[1]);
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)
{
if (Dpose) {
// translation due to translation
Matrix3 c_R_l_mat = c_R_l.matrix();
Matrix3 l_R_c = c_R_l_mat.transpose();
Dpose->block<1,3>(2, 3) = -l_R_c.row(0);
Dpose->block<1,3>(3, 3) = -l_R_c.row(1);
Matrix3 cRl_mat = cRl.matrix();
Matrix3 lRc = cRl_mat.transpose();
Dpose->block<1, 3>(2, 3) = -lRc.row(0);
Dpose->block<1, 3>(3, 3) = -lRc.row(1);
Dpose->block<1,3>(0, 0) = -l_R_c.row(0);
Dpose->block<1,3>(1, 0) = -l_R_c.row(1);
Dpose->block<1, 3>(0, 0) = -lRc.row(0);
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(1) << 0.0, 1.0, t[2], 0.0;
Dline->col(2) << 0.0, 0.0, 1.0, 0.0;
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
View File

@ -18,13 +18,7 @@
#include <gtsam/base/concepts.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO3.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/slam/expressions.h>
#include <boost/random.hpp>
#include <cstdlib>
#include <ctime>
#include <gtsam/geometry/Pose3.h>
namespace gtsam {
@ -36,31 +30,23 @@ namespace gtsam{
class Line3 {
private:
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:
enum { dimension = 4 };
/** Default constructor is the Z axis **/
Line3() :
a_(0), b_(0)
{}
a_(0), b_(0) {}
/** Constructor:
* Parallel to z axis, intersecting x-y plane at (a,b) **/
Line3(const double a, const double b) :
a_(a), b_(b)
{}
a_(a), b_(b) {}
/** Constructor for general line from (R, a, b) **/
Line3(const Rot3 &R, const double a, const double 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();
R_(R), a_(a), b_(b) {}
/**
* The retract method maps from the tangent space back to the manifold.
@ -77,7 +63,7 @@ public:
* between two lines in the tangent space.
* @param q Line3 on manifold
* @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;
@ -85,8 +71,7 @@ public:
* Rotation of line accessor
* @return Rot3
*/
Rot3 R() const
{
Rot3 R() const {
return R_;
}
@ -94,8 +79,7 @@ public:
* Accessor for a, b
* @return Vector2(a, b)
*/
Vector2 V() const
{
Vector2 V() const {
return Vector2(a_, b_);
}
@ -114,9 +98,10 @@ public:
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
* @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;
};
@ -127,52 +112,15 @@ struct traits<Line3> : public internal::Manifold<Line3> {};
template<>
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
* @param p - Pose3 of camera in world frame
* @param l - Line3 in world frame
* @param wTc - Pose3 of camera in world frame
* @param wL - Line3 in world frame
* @param Dpose - OptionalJacobian of transformed line with respect to p
* @param Dline - OptionalJacobian of transformed line with respect to l
* @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, 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
View File

@ -2,6 +2,7 @@
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Line3.h>
#include <gtsam/slam/expressions.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
@ -117,7 +118,7 @@ TEST(Line3, transformToExpressionJacobians)
val.insert(2, p);
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);
}
@ -127,17 +128,18 @@ TEST(Line3, projection)
{
Rot3 r;
r = r.Expmap(Vector3(0, 0, 0));
Line3 l_w(r, 1, 1);
Line3 wL(r, 1, 1);
Point3 expected(-1, 1, 0);
EXPECT(expected.equals(projectLine(l_w)));
EXPECT(expected.equals(wL.project()));
Values val;
val.insert(1, l_w);
Line3_ l_w_(1);
val.insert(1, wL);
Line3_ wL_(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);
}

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