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Made tarnsform_to derivatives about twice as fast. Biggest culprit is still malloc.

release/4.3a0
dellaert 2014-10-06 12:12:54 +02:00
parent 90bc8349d5
commit 930c77642e
1 changed files with 13 additions and 6 deletions
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19
gtsam/geometry/Pose3.cpp
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@ -256,16 +256,23 @@ Point3 Pose3::transform_from(const Point3& p, boost::optional<Matrix&> Dpose,
/* ************************************************************************* */ /* ************************************************************************* */
Point3 Pose3::transform_to(const Point3& p, boost::optional<Matrix&> Dpose, Point3 Pose3::transform_to(const Point3& p, boost::optional<Matrix&> Dpose,
boost::optional<Matrix&> Dpoint) const { boost::optional<Matrix&> Dpoint) const {
const Point3 result = R_.unrotate(p - t_); // Only get transpose once, to avoid multiple allocations,
// as well as multiple conversions in the Quaternion case
Matrix3 Rt(R_.transpose());
const Point3 q(Rt*(p - t_).vector());
if (Dpose) { if (Dpose) {
const Point3& q = result; double wx = q.x();
Matrix DR = skewSymmetric(q.x(), q.y(), q.z()); double wy = q.y();
double wz = q.z();
Dpose->resize(3, 6); Dpose->resize(3, 6);
(*Dpose) << DR, _I3; (*Dpose) <<
0.0, -wz, +wy,-1.0, 0.0, 0.0,
+wz, 0.0, -wx, 0.0,-1.0, 0.0,
-wy, +wx, 0.0, 0.0, 0.0,-1.0;
} }
if (Dpoint) if (Dpoint)
*Dpoint = R_.transpose(); *Dpoint = Rt;
return result; return q;
} }
/* ************************************************************************* */ /* ************************************************************************* */