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Showed compiler that B_ is always initialized

release/4.3a0
Frank Dellaert 2018-10-09 09:11:50 -04:00
parent a34a9b8ff1
commit 767c5d41ee
1 changed files with 49 additions and 51 deletions
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98
gtsam/geometry/Unit3.cpp
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@ -74,61 +74,59 @@ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const {
tbb::mutex::scoped_lock lock(B_mutex_);
#endif
// Return cached basis if available and the Jacobian isn't needed.
if (B_ && !H) {
// Return cached basis if available and the Jacobian isn't needed.
return *B_;
}
// Return cached basis and derivatives if available.
if (B_ && H && H_B_) {
} else if (B_ && H && H_B_) {
// Return cached basis and derivatives if available.
*H = *H_B_;
return *B_;
} else {
B_.reset(Matrix32());
// Get the unit vector and derivative wrt this.
// NOTE(hayk): We can't call point3(), because it would recursively call basis().
const Point3 n(p_);
// Get the axis of rotation with the minimum projected length of the point
Point3 axis(0, 0, 1);
double mx = fabs(n.x()), my = fabs(n.y()), mz = fabs(n.z());
if ((mx <= my) && (mx <= mz)) {
axis = Point3(1.0, 0.0, 0.0);
} else if ((my <= mx) && (my <= mz)) {
axis = Point3(0.0, 1.0, 0.0);
}
// Choose the direction of the first basis vector b1 in the tangent plane by crossing n with
// the chosen axis.
Matrix33 H_B1_n;
Point3 B1 = gtsam::cross(n, axis, H ? &H_B1_n : nullptr);
// Normalize result to get a unit vector: b1 = B1 / |B1|.
Matrix33 H_b1_B1;
Point3 b1 = normalize(B1, H ? &H_b1_B1 : nullptr);
// Get the second basis vector b2, which is orthogonal to n and b1, by crossing them.
// No need to normalize this, p and b1 are orthogonal unit vectors.
Matrix33 H_b2_n, H_b2_b1;
Point3 b2 = gtsam::cross(n, b1, H ? &H_b2_n : nullptr, H ? &H_b2_b1 : nullptr);
// Create the basis by stacking b1 and b2.
(*B_) << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z();
if (H) {
// Chain rule tomfoolery to compute the derivative.
const Matrix32& H_n_p = *B_;
const Matrix32 H_b1_p = H_b1_B1 * H_B1_n * H_n_p;
const Matrix32 H_b2_p = H_b2_n * H_n_p + H_b2_b1 * H_b1_p;
// Cache the derivative and fill the result.
H_B_.reset(Matrix62());
(*H_B_) << H_b1_p, H_b2_p;
*H = *H_B_;
}
return *B_;
}
// Get the unit vector and derivative wrt this.
// NOTE(hayk): We can't call point3(), because it would recursively call basis().
const Point3 n(p_);
// Get the axis of rotation with the minimum projected length of the point
Point3 axis(0, 0, 1);
double mx = fabs(n.x()), my = fabs(n.y()), mz = fabs(n.z());
if ((mx <= my) && (mx <= mz)) {
axis = Point3(1.0, 0.0, 0.0);
} else if ((my <= mx) && (my <= mz)) {
axis = Point3(0.0, 1.0, 0.0);
}
// Choose the direction of the first basis vector b1 in the tangent plane by crossing n with
// the chosen axis.
Matrix33 H_B1_n;
Point3 B1 = gtsam::cross(n, axis, H ? &H_B1_n : nullptr);
// Normalize result to get a unit vector: b1 = B1 / |B1|.
Matrix33 H_b1_B1;
Point3 b1 = normalize(B1, H ? &H_b1_B1 : nullptr);
// Get the second basis vector b2, which is orthogonal to n and b1, by crossing them.
// No need to normalize this, p and b1 are orthogonal unit vectors.
Matrix33 H_b2_n, H_b2_b1;
Point3 b2 = gtsam::cross(n, b1, H ? &H_b2_n : nullptr, H ? &H_b2_b1 : nullptr);
// Create the basis by stacking b1 and b2.
B_.reset(Matrix32());
(*B_) << b1.x(), b2.x(), b1.y(), b2.y(), b1.z(), b2.z();
if (H) {
// Chain rule tomfoolery to compute the derivative.
const Matrix32& H_n_p = *B_;
const Matrix32 H_b1_p = H_b1_B1 * H_B1_n * H_n_p;
const Matrix32 H_b2_p = H_b2_n * H_n_p + H_b2_b1 * H_b1_p;
// Cache the derivative and fill the result.
H_B_.reset(Matrix62());
(*H_B_) << H_b1_p, H_b2_p;
*H = *H_B_;
}
return *B_;
}
/* ************************************************************************* */