Formatting
dellaert
parent
87c386d77f
commit
7aa0bd332a
168
matlab.h
168
matlab.h
|
|
@ -32,48 +32,48 @@
|
|||
|
||||
namespace gtsam {
|
||||
|
||||
namespace utilities {
|
||||
namespace utilities {
|
||||
|
||||
/// Extract all Point2 values into a single matrix [x y]
|
||||
Matrix extractPoint2(const Values& values) {
|
||||
size_t j=0;
|
||||
/// Extract all Point2 values into a single matrix [x y]
|
||||
Matrix extractPoint2(const Values& values) {
|
||||
size_t j = 0;
|
||||
Values::ConstFiltered<Point2> points = values.filter<Point2>();
|
||||
Matrix result(points.size(),2);
|
||||
Matrix result(points.size(), 2);
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, points)
|
||||
result.row(j++) = key_value.value.vector();
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/// Extract all Point3 values into a single matrix [x y z]
|
||||
Matrix extractPoint3(const Values& values) {
|
||||
/// Extract all Point3 values into a single matrix [x y z]
|
||||
Matrix extractPoint3(const Values& values) {
|
||||
Values::ConstFiltered<Point3> points = values.filter<Point3>();
|
||||
Matrix result(points.size(),3);
|
||||
size_t j=0;
|
||||
Matrix result(points.size(), 3);
|
||||
size_t j = 0;
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, points)
|
||||
result.row(j++) = key_value.value.vector();
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/// Extract all Pose2 values into a single matrix [x y theta]
|
||||
Matrix extractPose2(const Values& values) {
|
||||
/// Extract all Pose2 values into a single matrix [x y theta]
|
||||
Matrix extractPose2(const Values& values) {
|
||||
Values::ConstFiltered<Pose2> poses = values.filter<Pose2>();
|
||||
Matrix result(poses.size(),3);
|
||||
size_t j=0;
|
||||
Matrix result(poses.size(), 3);
|
||||
size_t j = 0;
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& key_value, poses)
|
||||
result.row(j++) << key_value.value.x(), key_value.value.y(), key_value.value.theta();
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/// Extract all Pose3 values
|
||||
Values allPose3s(const Values& values) {
|
||||
/// Extract all Pose3 values
|
||||
Values allPose3s(const Values& values) {
|
||||
return values.filter<Pose3>();
|
||||
}
|
||||
}
|
||||
|
||||
/// Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z]
|
||||
Matrix extractPose3(const Values& values) {
|
||||
/// Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z]
|
||||
Matrix extractPose3(const Values& values) {
|
||||
Values::ConstFiltered<Pose3> poses = values.filter<Pose3>();
|
||||
Matrix result(poses.size(),12);
|
||||
size_t j=0;
|
||||
Matrix result(poses.size(), 12);
|
||||
size_t j = 0;
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Pose3>::KeyValuePair& key_value, poses) {
|
||||
result.row(j).segment(0, 3) << key_value.value.rotation().matrix().row(0);
|
||||
result.row(j).segment(3, 3) << key_value.value.rotation().matrix().row(1);
|
||||
|
|
@ -82,84 +82,100 @@ namespace gtsam {
|
|||
j++;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/// Perturb all Point2 values using normally distributed noise
|
||||
void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
|
||||
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,sigma);
|
||||
/// Perturb all Point2 values using normally distributed noise
|
||||
void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
|
||||
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,
|
||||
sigma);
|
||||
Sampler sampler(model, seed);
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, values.filter<Point2>()) {
|
||||
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Perturb all Pose2 values using normally distributed noise
|
||||
void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed = 42u) {
|
||||
/// Perturb all Pose2 values using normally distributed noise
|
||||
void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed =
|
||||
42u) {
|
||||
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(
|
||||
Vector3(sigmaT, sigmaT, sigmaR));
|
||||
Sampler sampler(model, seed);
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& key_value, values.filter<Pose2>()) {
|
||||
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Perturb all Point3 values using normally distributed noise
|
||||
void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
|
||||
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,sigma);
|
||||
/// Perturb all Point3 values using normally distributed noise
|
||||
void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
|
||||
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,
|
||||
sigma);
|
||||
Sampler sampler(model, seed);
|
||||
BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, values.filter<Point3>()) {
|
||||
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Insert a number of initial point values by backprojecting
|
||||
void insertBackprojections(Values& values, const SimpleCamera& camera, const Vector& J, const Matrix& Z, double depth) {
|
||||
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++) {
|
||||
Point2 p(Z(0,k),Z(1,k));
|
||||
/// Insert a number of initial point values by backprojecting
|
||||
void insertBackprojections(Values& values, const SimpleCamera& camera,
|
||||
const Vector& J, const Matrix& Z, double depth) {
|
||||
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++) {
|
||||
Point2 p(Z(0, k), Z(1, k));
|
||||
Point3 P = camera.backproject(p, depth);
|
||||
values.insert(J(k), P);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Insert multiple projection factors for a single pose key
|
||||
void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z,
|
||||
const SharedNoiseModel& model, const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
|
||||
if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K");
|
||||
if (Z.cols() != J.size()) throw std::invalid_argument(
|
||||
/// Insert multiple projection factors for a single pose key
|
||||
void insertProjectionFactors(NonlinearFactorGraph& graph, Key i,
|
||||
const Vector& J, const Matrix& Z, const SharedNoiseModel& model,
|
||||
const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
|
||||
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");
|
||||
for (int k = 0; k < Z.cols(); k++) {
|
||||
graph.push_back(
|
||||
boost::make_shared<GenericProjectionFactor<Pose3, Point3> >
|
||||
(Point2(Z(0, k), Z(1, k)), model, i, Key(J(k)), K, body_P_sensor));
|
||||
boost::make_shared<GenericProjectionFactor<Pose3, Point3> >(
|
||||
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
|
||||
Matrix reprojectionErrors(const NonlinearFactorGraph& graph, const Values& values) {
|
||||
// first count
|
||||
size_t K = 0, k=0;
|
||||
BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph)
|
||||
if (boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(f)) ++K;
|
||||
// now fill
|
||||
Matrix errors(2,K);
|
||||
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);
|
||||
if (p) errors.col(k++) = p->unwhitenedError(values);
|
||||
}
|
||||
return errors;
|
||||
}
|
||||
|
||||
// Create a Keyset from indices
|
||||
FastSet<Key> createKeySet(string s, const Vector& I) {
|
||||
FastSet<Key> set;
|
||||
char c = s[0];
|
||||
for(int i=0;i<I.size();i++)
|
||||
set.insert(symbol(c,I[i]));
|
||||
return set;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/// Calculate the errors of all projection factors in a graph
|
||||
Matrix reprojectionErrors(const NonlinearFactorGraph& graph,
|
||||
const Values& values) {
|
||||
// first count
|
||||
size_t K = 0, k = 0;
|
||||
BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph)
|
||||
if (boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
|
||||
f))
|
||||
++K;
|
||||
// now fill
|
||||
Matrix errors(2, K);
|
||||
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);
|
||||
if (p)
|
||||
errors.col(k++) = p->unwhitenedError(values);
|
||||
}
|
||||
return errors;
|
||||
}
|
||||
|
||||
// Create a Keyset from indices
|
||||
FastSet<Key> createKeySet(string s, const Vector& I) {
|
||||
FastSet<Key> set;
|
||||
char c = s[0];
|
||||
for (int i = 0; i < I.size(); i++)
|
||||
set.insert(symbol(c, I[i]));
|
||||
return set;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue