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Charts with default constructors

release/4.3a0
dellaert 2014-10-20 09:29:45 +02:00
parent 63ae33088e
commit 7ebc8e969f
1 changed files with 31 additions and 14 deletions
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45
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -491,6 +491,11 @@ TEST(Expression, AutoDiff2) {
EXPECT(assert_equal(E2,H2,1e-8)); EXPECT(assert_equal(E2,H2,1e-8));
} }
/* ************************************************************************* */
// zero for canonical coordinates
template <typename T>
struct zero;
/* ************************************************************************* */ /* ************************************************************************* */
// Adapt ceres-style autodiff // Adapt ceres-style autodiff
template<typename F, typename T, typename A1, typename A2> template<typename F, typename T, typename A1, typename A2>
@ -500,43 +505,55 @@ struct AutoDiff {
static const int M1 = dimension<A1>::value; static const int M1 = dimension<A1>::value;
static const int M2 = dimension<A2>::value; static const int M2 = dimension<A2>::value;
typedef DefaultChart<A1> Chart1;
typedef DefaultChart<A2> Chart2;
typedef typename Chart1::vector Vector1;
typedef typename Chart2::vector Vector2;
typedef Eigen::Matrix<double, N, M1> JacobianTA1; typedef Eigen::Matrix<double, N, M1> JacobianTA1;
typedef Eigen::Matrix<double, N, M2> JacobianTA2; typedef Eigen::Matrix<double, N, M2> JacobianTA2;
Point2 operator()(const A1& a1, const A2& a2, T operator()(const A1& a1, const A2& a2, boost::optional<JacobianTA1&> H1,
boost::optional<JacobianTA1&> H1, boost::optional<JacobianTA2&> H2) { boost::optional<JacobianTA2&> H2) {
// Instantiate function // Instantiate function and charts
A1 z1; A2 z2; // TODO, zero
Chart1 chart1(z1);
Chart2 chart2(z2);
F f; F f;
// Make arguments // Make arguments
Vector9 P; // zero rotation, (0,5,0) translation, focal length 1 Vector1 v1 = chart1.apply(a1);
P << 0, 0, 0, 0, 5, 0, 1, 0, 0; Vector2 v2 = chart2.apply(a2);
Vector3 X(10, 0, -5); // negative Z-axis convention of Snavely!
bool success; bool success;
Vector2 result; double result[N];
if (H1 || H2) { if (H1 || H2) {
// Get derivatives with AutoDiff // Get derivatives with AutoDiff
double *parameters[] = { P.data(), X.data() }; double *parameters[] = { v1.data(), v2.data() };
double *jacobians[] = { H1->data(), H2->data() }; double *jacobians[] = { H1->data(), H2->data() };
success = ceres::internal::AutoDiff<F, double, 9, 3>::Differentiate(f, success = ceres::internal::AutoDiff<F, double, 9, 3>::Differentiate(f,
parameters, 2, result.data(), jacobians); parameters, 2, result, jacobians);
} else { } else {
// Apply the mapping, to get result // Apply the mapping, to get result
success = f(P.data(), X.data(), result.data()); success = f(v1.data(), v2.data(), result);
} }
return Point2(); return T(result[0], result[1]);
} }
}; };
TEST(Expression, Snavely) { // The DefaultChart of Camera below is laid out like Snavely's 9-dim vector
// The DefaultChart of Camera below is laid out like Snavely's 9-dim vector typedef PinholeCamera<Cal3Bundler> Camera;
typedef PinholeCamera<Cal3Bundler> Camera;
//template <>
//zero<Camera> {
// static const Camera value = Camera();
//}
TEST(Expression, Snavely) {
Expression<Camera> P(1); Expression<Camera> P(1);
Expression<Point3> X(2); Expression<Point3> X(2);
// AutoDiff<SnavelyProjection, 2, 9, 3> f; // AutoDiff<SnavelyProjection, 2, 9, 3> f;