Fixed major problem with Pose3 retract. All retractions have to have exactly the same derivatives as the exponential map. Hence, it should never make sense to have to match derivaties with a retract version. I deleted all "wrong" derivatives and pushforwards. Finally, CalibratedCamera had to be modified as well as it hardcoded the wrong derivative of transform_to (for efficiency). It now simply implements the chain rule.
Frank Dellaert
parent
5e2f4c0958
commit
e6382c7ec0
293
.cproject
293
.cproject
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@ -378,6 +378,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -404,7 +412,6 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -412,7 +419,6 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -460,7 +466,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -468,7 +473,6 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -476,7 +480,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -492,20 +495,11 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -532,6 +526,7 @@
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</target>
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<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -603,6 +598,7 @@
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</target>
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<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testInference.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -610,6 +606,7 @@
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</target>
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<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -617,6 +614,7 @@
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</target>
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<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -624,6 +622,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -631,6 +630,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -700,22 +700,6 @@
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -732,6 +716,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -756,15 +756,7 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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@ -772,14 +764,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -820,7 +804,15 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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@ -828,6 +820,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPoint3.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPoint3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testCalibratedCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testCalibratedCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>dist</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>dist</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2159,54 +2226,6 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
|
|
@ -30,10 +30,13 @@ CalibratedCamera::CalibratedCamera(const Pose3& pose) :
|
|||
CalibratedCamera::CalibratedCamera(const Vector &v) : pose_(Pose3::Expmap(v)) {}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Point2 CalibratedCamera::project_to_camera(const Point3& P, boost::optional<Matrix&> H1) {
|
||||
Point2 CalibratedCamera::project_to_camera(const Point3& P,
|
||||
boost::optional<Matrix&> H1) {
|
||||
if (H1) {
|
||||
double d = 1.0 / P.z(), d2 = d * d;
|
||||
*H1 = Matrix_(2, 3, d, 0.0, -P.x() * d2, 0.0, d, -P.y() * d2);
|
||||
*H1 = Matrix_(2, 3,
|
||||
d, 0.0, -P.x() * d2,
|
||||
0.0, d, -P.y() * d2);
|
||||
}
|
||||
return Point2(P.x() / P.z(), P.y() / P.z());
|
||||
}
|
||||
|
|
@ -55,30 +58,25 @@ CalibratedCamera CalibratedCamera::level(const Pose2& pose2, double height) {
|
|||
|
||||
/* ************************************************************************* */
|
||||
Point2 CalibratedCamera::project(const Point3& point,
|
||||
boost::optional<Matrix&> D_intrinsic_pose,
|
||||
boost::optional<Matrix&> D_intrinsic_point) const {
|
||||
const Pose3& pose = pose_;
|
||||
const Rot3& R = pose.rotation();
|
||||
const Point3& r1 = R.r1(), r2 = R.r2(), r3 = R.r3();
|
||||
Point3 q = pose.transform_to(point);
|
||||
boost::optional<Matrix&> H1,
|
||||
boost::optional<Matrix&> H2) const {
|
||||
|
||||
Point3 q = pose_.transform_to(point, H1, H2);
|
||||
|
||||
// Check if point is in front of camera
|
||||
if(q.z() <= 0)
|
||||
throw CheiralityException();
|
||||
|
||||
if (D_intrinsic_pose || D_intrinsic_point) {
|
||||
double X = q.x(), Y = q.y(), Z = q.z();
|
||||
double d = 1.0 / Z, d2 = d * d, Xd2 = X*d2, Yd2 = Y*d2;
|
||||
double dp11 = d*r1.x()-r3.x()*Xd2, dp12 = d*r1.y()-r3.y()*Xd2, dp13 = d*r1.z()-r3.z()*Xd2;
|
||||
double dp21 = d*r2.x()-r3.x()*Yd2, dp22 = d*r2.y()-r3.y()*Yd2, dp23 = d*r2.z()-r3.z()*Yd2;
|
||||
if (D_intrinsic_pose)
|
||||
*D_intrinsic_pose = Matrix_(2,6,
|
||||
X*Yd2, -Z*d-X*Xd2, d*Y, -dp11, -dp12, -dp13,
|
||||
d*Z+Y*Yd2, -X*Yd2, -d*X, -dp21, -dp22, -dp23);
|
||||
if (D_intrinsic_point)
|
||||
*D_intrinsic_point = Matrix_(2,3,
|
||||
dp11, dp12, dp13,
|
||||
dp21, dp22, dp23);
|
||||
if (H1 || H2) {
|
||||
Matrix H;
|
||||
Point2 intrinsic = project_to_camera(q,H);
|
||||
// just implement chain rule
|
||||
if (H1) *H1 = H * (*H1);
|
||||
if (H1) *H2 = H * (*H2);
|
||||
return intrinsic;
|
||||
}
|
||||
return project_to_camera(q);
|
||||
else
|
||||
return project_to_camera(q);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -29,10 +29,7 @@ namespace gtsam {
|
|||
/** instantiate concept checks */
|
||||
GTSAM_CONCEPT_POSE_INST(Pose3);
|
||||
|
||||
static const Matrix I3 = eye(3), Z3 = zeros(3, 3);
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
static const Matrix _I3=-I3, I6 = eye(6);
|
||||
#endif
|
||||
static const Matrix I3 = eye(3), Z3 = zeros(3, 3), _I3=-I3, I6 = eye(6);
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Calculate Adjoint map
|
||||
|
|
@ -94,42 +91,60 @@ namespace gtsam {
|
|||
}
|
||||
}
|
||||
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
/* ************************************************************************* */
|
||||
// Changes default to use the full verions of expmap/logmap
|
||||
/* ************************************************************************* */
|
||||
|
||||
/* ************************************************************************* */
|
||||
Pose3 Pose3::retract(const Vector& d) const {
|
||||
return compose(Expmap(d));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Vector Pose3::localCoordinates(const Pose3& T2) const {
|
||||
return Logmap(between(T2));
|
||||
}
|
||||
|
||||
// Different versions of retract
|
||||
Pose3 Pose3::retract(const Vector& xi) const {
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
// Lie group exponential map, traces out geodesic
|
||||
return compose(Expmap(xi));
|
||||
#else
|
||||
Vector omega(sub(xi, 0, 3));
|
||||
Point3 v(sub(xi, 3, 6));
|
||||
|
||||
// R is always done exactly in all three retract versions below
|
||||
Rot3 R = R_.retract(omega);
|
||||
|
||||
// Incorrect version
|
||||
// Retracts R and t independently
|
||||
// Point3 t = t_.retract(v.vector());
|
||||
|
||||
// First order t approximation
|
||||
Point3 t = t_ + R_ * v;
|
||||
|
||||
// Second order t approximation
|
||||
// Point3 t = t_ + R_ * (v+Point3(omega).cross(v)/2);
|
||||
|
||||
return Pose3(R, t);
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/** These are the "old-style" expmap and logmap about the specified
|
||||
* pose. Increments the offset and rotation independently given a translation and
|
||||
* canonical rotation coordinates. Created to match ML derivatives, but
|
||||
* superseded by the correct exponential map story in .cpp */
|
||||
Pose3 Pose3::retract(const Vector& d) const {
|
||||
return Pose3(R_.retract(sub(d, 0, 3)),
|
||||
t_.retract(sub(d, 3, 6)));
|
||||
}
|
||||
// different versions of localCoordinates
|
||||
Vector Pose3::localCoordinates(const Pose3& T) const {
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
// Lie group logarithm map, exact inverse of exponential map
|
||||
return Logmap(between(T));
|
||||
#else
|
||||
// R is always done exactly in all three retract versions below
|
||||
Vector omega = R_.localCoordinates(T.rotation());
|
||||
|
||||
/* ************************************************************************* */
|
||||
/** Independently computes the logmap of the translation and rotation. */
|
||||
Vector Pose3::localCoordinates(const Pose3& pp) const {
|
||||
const Vector r(R_.localCoordinates(pp.rotation())),
|
||||
t(t_.localCoordinates(pp.translation()));
|
||||
return concatVectors(2, &r, &t);
|
||||
}
|
||||
// Incorrect version
|
||||
// Independently computes the logmap of the translation and rotation
|
||||
// Vector v = t_.localCoordinates(T.translation());
|
||||
|
||||
#endif
|
||||
// Correct first order t inverse
|
||||
Point3 d = R_.unrotate(T.translation() - t_);
|
||||
Vector v = d.vector();
|
||||
|
||||
// TODO: correct second order t inverse
|
||||
|
||||
return concatVectors(2, &omega, &v);
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Matrix Pose3::matrix() const {
|
||||
|
|
@ -150,15 +165,9 @@ namespace gtsam {
|
|||
Point3 Pose3::transform_from(const Point3& p,
|
||||
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
|
||||
if (H1) {
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
const Matrix R = R_.matrix();
|
||||
Matrix DR = R*skewSymmetric(-p.x(), -p.y(), -p.z());
|
||||
*H1 = collect(2,&DR,&R);
|
||||
#else
|
||||
Matrix DR;
|
||||
R_.rotate(p, DR, boost::none);
|
||||
*H1 = collect(2,&DR,&I3);
|
||||
#endif
|
||||
}
|
||||
if (H2) *H2 = R_.matrix();
|
||||
return R_ * p + t_;
|
||||
|
|
@ -168,17 +177,11 @@ namespace gtsam {
|
|||
Point3 Pose3::transform_to(const Point3& p,
|
||||
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
|
||||
const Point3 result = R_.unrotate(p - t_);
|
||||
if (H1) {
|
||||
const Point3& q = result;
|
||||
Matrix DR = skewSymmetric(q.x(), q.y(), q.z());
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
*H1 = collect(2, &DR, &_I3);
|
||||
#else
|
||||
Matrix DT = - R_.transpose(); // negative because of sub
|
||||
*H1 = collect(2,&DR,&DT);
|
||||
#endif
|
||||
}
|
||||
|
||||
if (H1) {
|
||||
const Point3& q = result;
|
||||
Matrix DR = skewSymmetric(q.x(), q.y(), q.z());
|
||||
*H1 = collect(2, &DR, &_I3);
|
||||
}
|
||||
if (H2) *H2 = R_.transpose();
|
||||
return result;
|
||||
}
|
||||
|
|
@ -186,47 +189,14 @@ namespace gtsam {
|
|||
/* ************************************************************************* */
|
||||
Pose3 Pose3::compose(const Pose3& p2,
|
||||
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
|
||||
if (H1) {
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
*H1 = p2.inverse().adjointMap();
|
||||
#else
|
||||
const Rot3& R2 = p2.rotation();
|
||||
const Point3& t2 = p2.translation();
|
||||
Matrix DR_R1 = R2.transpose(), DR_t1 = Z3;
|
||||
Matrix DR = collect(2, &DR_R1, &DR_t1);
|
||||
Matrix Dt;
|
||||
transform_from(t2, Dt, boost::none);
|
||||
*H1 = gtsam::stack(2, &DR, &Dt);
|
||||
#endif
|
||||
}
|
||||
if (H2) {
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
*H2 = I6;
|
||||
#else
|
||||
Matrix R1 = rotation().matrix();
|
||||
Matrix DR = collect(2, &I3, &Z3);
|
||||
Matrix Dt = collect(2, &Z3, &R1);
|
||||
*H2 = gtsam::stack(2, &DR, &Dt);
|
||||
#endif
|
||||
}
|
||||
return (*this) * p2;
|
||||
if (H1) *H1 = p2.inverse().adjointMap();
|
||||
if (H2) *H2 = I6;
|
||||
return (*this) * p2;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Pose3 Pose3::inverse(boost::optional<Matrix&> H1) const {
|
||||
if (H1)
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
{ *H1 = - adjointMap(); }
|
||||
#else
|
||||
{
|
||||
Matrix Rt = R_.transpose();
|
||||
Matrix DR_R1 = -R_.matrix(), DR_t1 = Z3;
|
||||
Matrix Dt_R1 = -skewSymmetric(R_.unrotate(t_).vector()), Dt_t1 = -Rt;
|
||||
Matrix DR = collect(2, &DR_R1, &DR_t1);
|
||||
Matrix Dt = collect(2, &Dt_R1, &Dt_t1);
|
||||
*H1 = gtsam::stack(2, &DR, &Dt);
|
||||
}
|
||||
#endif
|
||||
if (H1) *H1 = -adjointMap();
|
||||
Rot3 Rt = R_.inverse();
|
||||
return Pose3(Rt, Rt*(-t_));
|
||||
}
|
||||
|
|
@ -262,11 +232,7 @@ namespace gtsam {
|
|||
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
|
||||
double r = range(point.translation(), H1, H2);
|
||||
if (H2) {
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
Matrix H2_ = *H2 * point.rotation().matrix();
|
||||
#else
|
||||
Matrix H2_ = *H2;
|
||||
#endif
|
||||
*H2 = zeros(1, 6);
|
||||
insertSub(*H2, H2_, 0, 3);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -44,12 +44,12 @@ TEST( Pose3, equals)
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( Pose3, expmap_a)
|
||||
TEST( Pose3, retract)
|
||||
{
|
||||
Pose3 id;
|
||||
Vector v = zero(6);
|
||||
v(0) = 0.3;
|
||||
EXPECT(assert_equal(id.retract(v), Pose3(R, Point3())));
|
||||
EXPECT(assert_equal(Pose3(R, Point3()), id.retract(v)));
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
v(3)=0.2;v(4)=0.394742;v(5)=-2.08998;
|
||||
#else
|
||||
|
|
@ -195,9 +195,7 @@ TEST( Pose3, compose )
|
|||
|
||||
Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T2, T2);
|
||||
EXPECT(assert_equal(numericalH1,actualDcompose1,5e-3));
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
EXPECT(assert_equal(T2.inverse().adjointMap(),actualDcompose1,5e-3));
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#endif
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|
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Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T2, T2);
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EXPECT(assert_equal(numericalH2,actualDcompose2,1e-4));
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|
@ -217,9 +215,7 @@ TEST( Pose3, compose2 )
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|
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Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T1, T2);
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EXPECT(assert_equal(numericalH1,actualDcompose1,5e-3));
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#ifdef CORRECT_POSE3_EXMAP
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EXPECT(assert_equal(T2.inverse().adjointMap(),actualDcompose1,5e-3));
|
||||
#endif
|
||||
|
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Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T1, T2);
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EXPECT(assert_equal(numericalH2,actualDcompose2,1e-5));
|
||||
|
|
@ -235,9 +231,7 @@ TEST( Pose3, inverse)
|
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|
||||
Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T);
|
||||
EXPECT(assert_equal(numericalH,actualDinverse,5e-3));
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
EXPECT(assert_equal(-T.adjointMap(),actualDinverse,5e-3));
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -251,9 +245,7 @@ TEST( Pose3, inverseDerivatives2)
|
|||
Matrix actualDinverse;
|
||||
T.inverse(actualDinverse);
|
||||
EXPECT(assert_equal(numericalH,actualDinverse,5e-3));
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
EXPECT(assert_equal(-T.adjointMap(),actualDinverse,5e-3));
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -450,10 +442,17 @@ TEST( Pose3, transformPose_to)
|
|||
EXPECT(assert_equal(expected, actual, 0.001));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(Pose3, localCoordinates)
|
||||
{
|
||||
Vector d12 = repeat(6,0.1);
|
||||
Pose3 t1 = T, t2 = t1.retract(d12);
|
||||
EXPECT(assert_equal(d12, t1.localCoordinates(t2)));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(Pose3, manifold)
|
||||
{
|
||||
//cout << "manifold" << endl;
|
||||
Pose3 t1 = T;
|
||||
Pose3 t2 = T3;
|
||||
Pose3 origin;
|
||||
|
|
@ -466,13 +465,13 @@ TEST(Pose3, manifold)
|
|||
// todo: richard - commented out because this tests for "compose-style" (new) expmap
|
||||
// EXPECT(assert_equal(t1, retract(origin,d21)*t2));
|
||||
|
||||
// Check that log(t1,t2)=-log(t2,t1) - this holds even for incorrect expmap :-)
|
||||
EXPECT(assert_equal(d12,-d21));
|
||||
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
|
||||
|
||||
// todo: Frank - Below only works for correct "Agrawal06iros style expmap
|
||||
// Check that log(t1,t2)=-log(t2,t1) TODO: only holds for exp map
|
||||
// EXPECT(assert_equal(d12,-d21));
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
TEST(Pose3, subgroups)
|
||||
{
|
||||
// Frank - Below only works for correct "Agrawal06iros style expmap
|
||||
// lines in canonical coordinates correspond to Abelian subgroups in SE(3)
|
||||
Vector d = Vector_(6,0.1,0.2,0.3,0.4,0.5,0.6);
|
||||
// exp(-d)=inverse(exp(d))
|
||||
|
|
@ -483,8 +482,6 @@ TEST(Pose3, manifold)
|
|||
Pose3 T5 = Pose3::Expmap(5*d);
|
||||
EXPECT(assert_equal(T5,T2*T3));
|
||||
EXPECT(assert_equal(T5,T3*T2));
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -197,21 +197,10 @@ TEST( Pose3Values, pose3Circle )
|
|||
TEST( Pose3Values, expmap )
|
||||
{
|
||||
Pose3Values expected;
|
||||
#ifdef CORRECT_POSE3_EXMAP
|
||||
expected.insert(0, Pose3(R1, Point3( 1.0, 0.1, 0)));
|
||||
expected.insert(1, Pose3(R2, Point3(-0.1, 1.0, 0)));
|
||||
expected.insert(2, Pose3(R3, Point3(-1.0,-0.1, 0)));
|
||||
expected.insert(3, Pose3(R4, Point3( 0.1,-1.0, 0)));
|
||||
#else
|
||||
// expected is circle shifted to East
|
||||
expected.insert(0, Pose3(R1, Point3( 1.1, 0, 0)));
|
||||
expected.insert(1, Pose3(R2, Point3( 0.1, 1, 0)));
|
||||
expected.insert(2, Pose3(R3, Point3(-0.9, 0, 0)));
|
||||
expected.insert(3, Pose3(R4, Point3( 0.1,-1, 0)));
|
||||
#endif
|
||||
|
||||
// Note expmap coordinates are in global coordinates with non-compose expmap
|
||||
// so shifting to East requires little thought, different from with Pose2 !!!
|
||||
|
||||
Ordering ordering(*expected.orderingArbitrary());
|
||||
VectorValues delta(expected.dims(ordering));
|
||||
|
|
|
|||
Loading…
Reference in New Issue