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release/4.3a0
dellaert 2014-05-25 10:49:59 -04:00
parent 87c386d77f
commit 7aa0bd332a
1 changed files with 144 additions and 128 deletions
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matlab.h
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@ -86,7 +86,8 @@ namespace gtsam {
/// Perturb all Point2 values using normally distributed noise /// Perturb all Point2 values using normally distributed noise
void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) { void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,sigma); noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,
sigma);
Sampler sampler(model, seed); Sampler sampler(model, seed);
BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, values.filter<Point2>()) { BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, values.filter<Point2>()) {
values.update(key_value.key, key_value.value.retract(sampler.sample())); values.update(key_value.key, key_value.value.retract(sampler.sample()));
@ -94,7 +95,8 @@ namespace gtsam {
} }
/// Perturb all Pose2 values using normally distributed noise /// Perturb all Pose2 values using normally distributed noise
void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed = 42u) { void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed =
42u) {
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas( noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(
Vector3(sigmaT, sigmaT, sigmaR)); Vector3(sigmaT, sigmaT, sigmaR));
Sampler sampler(model, seed); Sampler sampler(model, seed);
@ -105,7 +107,8 @@ namespace gtsam {
/// Perturb all Point3 values using normally distributed noise /// Perturb all Point3 values using normally distributed noise
void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) { void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,sigma); noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,
sigma);
Sampler sampler(model, seed); Sampler sampler(model, seed);
BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, values.filter<Point3>()) { BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, values.filter<Point3>()) {
values.update(key_value.key, key_value.value.retract(sampler.sample())); values.update(key_value.key, key_value.value.retract(sampler.sample()));
@ -113,9 +116,13 @@ namespace gtsam {
} }
/// Insert a number of initial point values by backprojecting /// Insert a number of initial point values by backprojecting
void insertBackprojections(Values& values, const SimpleCamera& camera, const Vector& J, const Matrix& Z, double depth) { void insertBackprojections(Values& values, const SimpleCamera& camera,
if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); const Vector& J, const Matrix& Z, double depth) {
if (Z.cols() != J.size()) throw std::invalid_argument("insertBackProjections: J and Z must have same number of entries"); if (Z.rows() != 2)
throw std::invalid_argument("insertBackProjections: Z must be 2*K");
if (Z.cols() != J.size())
throw std::invalid_argument(
"insertBackProjections: J and Z must have same number of entries");
for (int k = 0; k < Z.cols(); k++) { for (int k = 0; k < Z.cols(); k++) {
Point2 p(Z(0, k), Z(1, k)); Point2 p(Z(0, k), Z(1, k));
Point3 P = camera.backproject(p, depth); Point3 P = camera.backproject(p, depth);
@ -124,29 +131,38 @@ namespace gtsam {
} }
/// Insert multiple projection factors for a single pose key /// Insert multiple projection factors for a single pose key
void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z, void insertProjectionFactors(NonlinearFactorGraph& graph, Key i,
const SharedNoiseModel& model, const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) { const Vector& J, const Matrix& Z, const SharedNoiseModel& model,
if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
if (Z.cols() != J.size()) throw std::invalid_argument( if (Z.rows() != 2)
throw std::invalid_argument("addMeasurements: Z must be 2*K");
if (Z.cols() != J.size())
throw std::invalid_argument(
"addMeasurements: J and Z must have same number of entries"); "addMeasurements: J and Z must have same number of entries");
for (int k = 0; k < Z.cols(); k++) { for (int k = 0; k < Z.cols(); k++) {
graph.push_back( graph.push_back(
boost::make_shared<GenericProjectionFactor<Pose3, Point3> > boost::make_shared<GenericProjectionFactor<Pose3, Point3> >(
(Point2(Z(0, k), Z(1, k)), model, i, Key(J(k)), K, body_P_sensor)); Point2(Z(0, k), Z(1, k)), model, i, Key(J(k)), K, body_P_sensor));
} }
} }
/// Calculate the errors of all projection factors in a graph /// Calculate the errors of all projection factors in a graph
Matrix reprojectionErrors(const NonlinearFactorGraph& graph, const Values& values) { Matrix reprojectionErrors(const NonlinearFactorGraph& graph,
const Values& values) {
// first count // first count
size_t K = 0, k = 0; size_t K = 0, k = 0;
BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph) BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph)
if (boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(f)) ++K; if (boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
f))
++K;
// now fill // now fill
Matrix errors(2, K); Matrix errors(2, K);
BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph) { BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph) {
boost::shared_ptr<const GenericProjectionFactor<Pose3, Point3> > p = boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(f); boost::shared_ptr<const GenericProjectionFactor<Pose3, Point3> > p =
if (p) errors.col(k++) = p->unwhitenedError(values); boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
f);
if (p)
errors.col(k++) = p->unwhitenedError(values);
} }
return errors; return errors;
} }
@ -159,7 +175,7 @@ namespace gtsam {
set.insert(symbol(c, I[i])); set.insert(symbol(c, I[i]));
return set; return set;
} }
}
} }
}