some changes after review 1
akrishnan86
parent
4356c1953d
commit
1c85b99b30
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@ -1,136 +1,97 @@
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#include <gtsam/geometry/Line3.h>
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#include <cstdlib>
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namespace gtsam {
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Vector6 Line3::points()
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{
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Vector3 mid;
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mid << a_, b_, 0;
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Vector3 mid_rot = R_*mid;
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Vector3 start = mid_rot + R_.r3();
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Vector3 end = mid_rot - R_.r3();
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Vector6 start_end;
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start_end << start(0), start(1), start(2),
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end(0), end(1), end(2);
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return start_end;
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Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const {
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Vector3 w;
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w << v[0], v[1], 0;
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Rot3 eps;
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if (H) {
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OptionalJacobian<3, 3> Dw;
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eps = Rot3::Expmap(w, Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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(*H)(2, 2) = 1;
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(*H)(3, 3) = 1;
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} else {
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eps = Rot3::Expmap(w);
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}
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Rot3 Rt = R_ * eps;
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return Line3(Rt, a_ + v[2], b_ + v[3]);
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}
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Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4,4> H) const {
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Vector3 w;
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w << v[0], v[1], 0;
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Rot3 eps;
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if(H)
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{
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OptionalJacobian<3,3> Dw;
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eps = Rot3::Expmap(w, Dw);
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H->block<2,2>(0,0) = Dw->block<2,2>(0,0);
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(*H)(2,2) = 1;
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(*H)(3,3) = 1;
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}
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else
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{
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eps = Rot3::Expmap(w);
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}
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Rot3 Rt = R_*eps;
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return Line3(Rt, a_+v[2], b_+v[3]);
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Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const {
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Vector3 local_rot;
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Vector4 local;
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Vector2 ab_q(q.V());
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if (H) {
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OptionalJacobian<3, 3> Dw;
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local_rot = Rot3::Logmap(R_.inverse() * q.R(), Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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(*H)(2, 2) = 1;
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(*H)(3, 3) = 1;
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} else {
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local_rot = Rot3::Logmap(R_.inverse() * q.R());
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}
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local << local_rot[0], local_rot[1], ab_q[0] - a_, ab_q[1] - b_;
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return local;
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}
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Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4,4> H) const {
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Vector3 local_rot;
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Vector4 local;
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Vector2 ab_q(q.V());
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if(H)
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{
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OptionalJacobian<3,3> Dw;
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local_rot = Rot3::Logmap(R_.inverse()*q.R(), Dw);
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H->block<2,2>(0, 0) = Dw->block<2,2>(0,0);
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(*H)(2,2) = 1;
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(*H)(3,3) = 1;
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}
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else
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{
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local_rot = Rot3::Logmap(R_.inverse()*q.R());
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}
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local << local_rot[0], local_rot[1], ab_q[0] - a_, ab_q[1] - b_;
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return local;
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void Line3::print(const std::string &s) const {
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std::cout << s << std::endl;
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R_.print("R:\n");
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std::cout << "a: " << a_ << ", b: " << b_ << std::endl;
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}
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void Line3::print(const std::string &s) const
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{
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std::cout << s << std::endl;
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R_.print("R:\n");
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std::cout << "a: " << a_ << ", b: " << b_ << std::endl;
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bool Line3::equals(const Line3 &l2, double tol) const {
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Vector4 diff = localCoordinates(l2);
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return fabs(diff[0]) < tol && fabs(diff[1]) < tol
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&& fabs(diff[2]) < tol && fabs(diff[3]) < tol;
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}
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Point3 Line3::project(OptionalJacobian<3, 4> Dline) const {
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Vector3 V_0;
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V_0 << -b_, a_, 0;
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bool Line3::equals(const Line3 &l2, double tol) const
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{
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Vector4 diff = localCoordinates(l2);
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return fabs(diff[0]) < tol && fabs(diff[1]) < tol
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&& fabs(diff[2]) < tol && fabs(diff[3]) < tol;
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Unit3 l = R_ * V_0;
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if (Dline) {
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Dline->setZero();
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Dline->col(0) = a_ * R_.r3();
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Dline->col(1) = b_ * R_.r3();
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Dline->col(2) = R_.r2();
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Dline->col(3) = -R_.r1();
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}
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return l;
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}
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Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline) {
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Rot3 wRl = wL.R();
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Rot3 wRc = wTc.rotation();
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Rot3 cRw = wRc.inverse();
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Rot3 cRl = cRw * wRl;
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Point3 Line3::project(OptionalJacobian<3, 4> Dline) const
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{
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Vector3 V_0;
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V_0 << -b_, a_, 0;
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Vector2 w_ab = wL.V();
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Vector3 t = (wRl.transpose() * wTc.translation());
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Vector2 c_ab(w_ab[0] - t[0], w_ab[1] - t[1]);
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Point3 l = R_*V_0;
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if(Dline)
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{
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Dline->setZero();
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Dline->col(0) = a_*R_.r3();
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Dline->col(1) = b_*R_.r3();
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Dline->col(2) = R_.r2();
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Dline->col(3) = -R_.r1();
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}
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return l;
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}
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if (Dpose) {
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// translation due to translation
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Matrix3 cRl_mat = cRl.matrix();
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Matrix3 lRc = cRl_mat.transpose();
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Dpose->block<1, 3>(2, 3) = -lRc.row(0);
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Dpose->block<1, 3>(3, 3) = -lRc.row(1);
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Point3 projectLine(const Line3 &L,
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OptionalJacobian<3, 4> Dline)
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{
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return L.project(Dline);
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}
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Line3 transformTo(const Pose3 &p, const Line3 &l,
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OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline)
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{
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Rot3 w_R_l = l.R();
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Rot3 w_R_c = p.rotation();
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Rot3 c_R_w = w_R_c.inverse();
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Rot3 c_R_l = c_R_w*w_R_l;
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Vector2 ab_w = l.V();
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Vector3 t = (w_R_l.transpose()*p.translation());
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Vector2 ab_c(ab_w[0] - t[0], ab_w[1] - t[1]);
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if(Dpose)
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{
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// translation due to translation
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Matrix3 c_R_l_mat = c_R_l.matrix();
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Matrix3 l_R_c = c_R_l_mat.transpose();
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Dpose->block<1,3>(2, 3) = -l_R_c.row(0);
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Dpose->block<1,3>(3, 3) = -l_R_c.row(1);
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Dpose->block<1,3>(0, 0) = -l_R_c.row(0);
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Dpose->block<1,3>(1, 0) = -l_R_c.row(1);
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}
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if(Dline)
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{
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Dline->col(0) << 1.0, 0.0, 0.0, -t[2];
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Dline->col(1) << 0.0, 1.0, t[2], 0.0;
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Dline->col(2) << 0.0, 0.0, 1.0, 0.0;
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Dline->col(3) << 0.0, 0.0, 0.0, 1.0;
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}
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return Line3(c_R_l, ab_c[0], ab_c[1]);
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Dpose->block<1, 3>(0, 0) = -lRc.row(0);
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Dpose->block<1, 3>(1, 0) = -lRc.row(1);
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}
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if (Dline) {
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Dline->col(0) << 1.0, 0.0, 0.0, -t[2];
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Dline->col(1) << 0.0, 1.0, t[2], 0.0;
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Dline->col(2) << 0.0, 0.0, 1.0, 0.0;
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Dline->col(3) << 0.0, 0.0, 0.0, 1.0;
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}
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return Line3(cRl, c_ab[0], c_ab[1]);
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}
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}
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@ -18,15 +18,9 @@
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#include <gtsam/base/concepts.h>
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/geometry/SO3.h>
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#include <gtsam/nonlinear/expressions.h>
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#include <gtsam/slam/expressions.h>
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#include <gtsam/geometry/Pose3.h>
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#include <boost/random.hpp>
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#include <cstdlib>
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#include <ctime>
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namespace gtsam{
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namespace gtsam {
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/**
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* A 3D line (R,a,b) : (Rot3,Scalar,Scalar)
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@ -34,145 +28,99 @@ namespace gtsam{
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* \nosubgrouping
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*/
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class Line3 {
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private:
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Rot3 R_; // Rotation of line about x and y in world frame
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double a_, b_; // Intersection of line with x-y world plane
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private:
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Rot3 R_; // Rotation of line about x and y in world frame
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double a_, b_; // Intersection of line with the world x-y plane rotated by R_
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// Also the closest point on line to origin
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public:
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enum { dimension = 4 };
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public:
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enum {dimension = 4};
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/** Default constructor is the Z axis **/
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Line3() :
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a_(0), b_(0) {}
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/** Default constructor is the Z axis **/
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Line3() :
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a_(0), b_(0)
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{}
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/** Constructor:
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* Parallel to z axis, intersecting x-y plane at (a,b) **/
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Line3(const double a, const double b) :
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a_(a), b_(b) {}
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/** Constructor:
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* Parallel to z axis, intersecting x-y plane at (a,b) **/
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Line3(const double a, const double b):
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a_(a), b_(b)
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{}
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/** Constructor for general line from (R, a, b) **/
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Line3(const Rot3 &R, const double a, const double b) :
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R_(R), a_(a), b_(b) {}
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/** Constructor for general line from (R, a, b) **/
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Line3(const Rot3 &R, const double a, const double b) :
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R_(R), a_(a), b_(b)
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{}
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/**
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* The retract method maps from the tangent space back to the manifold.
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* The tangent space for the rotation of a line is only two dimensional -
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* rotation about x and y
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* @param v: increment in tangent space
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* @param H: Jacobian of retraction with respect to the increment
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* @return: resulting line after adding the increment and mapping to the manifold
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*/
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Line3 retract(const Vector4 &v, OptionalJacobian<4, 4> H = boost::none) const;
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/** Sample two points lying on the line
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* @return Vector6 where first 3 elements are one point, and
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* next 3 elements are another point **/
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Vector6 points();
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/**
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* The localCoordinates method is the inverse of retract and finds the difference
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* between two lines in the tangent space.
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* @param q Line3 on manifold
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* @param H OptionalJacobian of localCoordinates with respect to line
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* @return difference in the tangent space
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*/
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Vector4 localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H = boost::none) const;
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/**
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* The retract method maps from the tangent space back to the manifold.
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* The tangent space for the rotation of a line is only two dimensional -
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* rotation about x and y
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* @param v: increment in tangent space
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* @param H: Jacobian of retraction with respect to the increment
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* @return: resulting line after adding the increment and mapping to the manifold
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*/
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Line3 retract(const Vector4 &v, OptionalJacobian<4,4> H = boost::none) const;
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/**
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* Rotation of line accessor
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* @return Rot3
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*/
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Rot3 R() const {
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return R_;
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}
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/**
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* The localCoordinates method is the inverse of retract and finds the difference
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* between two lines in the tangent space.
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* @param q Line3 on manifold
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* @param H OptionalJacobian of localCoordinates with respect to line
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* @return Vector4 difference in the tangent space
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*/
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Vector4 localCoordinates(const Line3 &q, OptionalJacobian<4,4> H = boost::none) const;
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/**
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* Accessor for a, b
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* @return Vector2(a, b)
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*/
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Vector2 V() const {
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return Vector2(a_, b_);
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}
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/**
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* Rotation of line accessor
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* @return Rot3
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*/
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Rot3 R() const
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{
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return R_;
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}
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/**
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* Print R, a, b
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* @param s: optional starting string
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*/
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void print(const std::string &s = "") const;
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/**
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* Accessor for a, b
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* @return Vector2(a, b)
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*/
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Vector2 V() const
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{
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return Vector2(a_, b_);
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}
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/**
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* Check if two lines are equal
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* @param l2 - line to be compared
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* @param tol : optional tolerance
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* @return boolean - true if lines are equal
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*/
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bool equals(const Line3 &l2, double tol = 10e-9) const;
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/**
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* Print R, a, b
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* @param s: optional starting string
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*/
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void print(const std::string &s = "") const;
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/**
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* Check if two lines are equal
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* @param l2 - line to be compared
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* @param tol : optional tolerance
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* @return boolean - true if lines are equal
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*/
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bool equals(const Line3 &l2, double tol = 10e-9) const;
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/**
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* Projecting a line to an image plane
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* @param Dline: OptionalJacobian of projected line with respect to this line
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* @return Point3 - projected line in image plane
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*/
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Point3 project(OptionalJacobian<3, 4> Dline = boost::none) const;
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/**
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* Projecting a line to the image plane. Assumes this line is in camera frame.
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* @param Dline: OptionalJacobian of projected line with respect to this line
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* @return Unit3 - projected line in image plane, in homogenous coordinates.
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* We use Unit3 since it is a manifold with the right dimension.
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*/
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Point3 project(OptionalJacobian<3, 4> Dline = boost::none) const;
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};
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template <>
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template<>
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struct traits<Line3> : public internal::Manifold<Line3> {};
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template <>
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template<>
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struct traits<const Line3> : public internal::Manifold<Line3> {};
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// For expression factor graphs
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typedef Expression<Line3> Line3_;
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/**
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* Function projects input line to image plane
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* @param L input line
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* @param Dline OptionalJacbian of projected line with respect to input line
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* @return Point3 - projected line
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*/
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Point3 projectLine(const Line3 &L,
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OptionalJacobian<3, 4> Dline = boost::none);
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/**
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* Transform a line from world to camera frame
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* @param p - Pose3 of camera in world frame
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* @param l - Line3 in world frame
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* @param wTc - Pose3 of camera in world frame
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* @param wL - Line3 in world frame
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* @param Dpose - OptionalJacobian of transformed line with respect to p
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* @param Dline - OptionalJacobian of transformed line with respect to l
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* @return Transformed line in camera frame
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*/
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Line3 transformTo(const Pose3 &p, const Line3 &l,
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OptionalJacobian<4, 6> Dpose = boost::none,
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OptionalJacobian<4, 4> Dline = boost::none);
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/**
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* Expression method for projection
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* @param line Line3_ expression
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* @return Point3_ projected line
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*/
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inline Point3_ projectLineExpression(const Line3_& line)
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{
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Point3 (*f)(const Line3&, OptionalJacobian<3, 4>) = &projectLine;
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return Point3_(f, line);
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}
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/**
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* Expression method for transforming line
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* @param p - Pose3_ expression
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* @param line - Line3 expression
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* @return transformed Line3_ expression
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*/
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inline Line3_ transformToExpression(const Pose3_& p, const Line3_& line)
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{
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Line3 (*f)(const Pose3&, const Line3&,
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OptionalJacobian<4,6>, OptionalJacobian<4,4>) = &transformTo;
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return Line3_(f, p, line);
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}
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Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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OptionalJacobian<4, 6> Dpose = boost::none,
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OptionalJacobian<4, 4> Dline = boost::none);
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}
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@ -2,6 +2,7 @@
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
|
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#include <gtsam/geometry/Line3.h>
|
||||
#include <gtsam/slam/expressions.h>
|
||||
#include <gtsam/slam/PriorFactor.h>
|
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#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);
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||||
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);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue