API changes after review1
akrishnan86
parent
50390277e5
commit
fd0c0c626f
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@ -4,94 +4,115 @@
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namespace gtsam {
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Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const {
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Vector3 w;
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w << v[0], v[1], 0;
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Rot3 eps;
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if (H) {
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OptionalJacobian<3, 3> Dw;
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eps = Rot3::Expmap(w, Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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(*H)(2, 2) = 1;
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(*H)(3, 3) = 1;
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} else {
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eps = Rot3::Expmap(w);
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}
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Rot3 Rt = R_ * eps;
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return Line3(Rt, a_ + v[2], b_ + v[3]);
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Vector3 w;
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w << v[0], v[1], 0;
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Rot3 eps;
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if (H) {
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OptionalJacobian<3, 3> Dw;
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Dw->setZero();
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eps = Rot3::Expmap(w, Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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(*H)(2, 2) = 1;
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(*H)(3, 3) = 1;
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} else {
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eps = Rot3::Expmap(w);
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}
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Rot3 Rt = R_ * eps;
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return Line3(Rt, a_ + v[2], b_ + v[3]);
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}
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Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const {
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Vector3 local_rot;
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Vector4 local;
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Vector2 ab_q(q.V());
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if (H) {
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OptionalJacobian<3, 3> Dw;
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local_rot = Rot3::Logmap(R_.inverse() * q.R(), Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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(*H)(2, 2) = 1;
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(*H)(3, 3) = 1;
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} else {
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local_rot = Rot3::Logmap(R_.inverse() * q.R());
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}
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local << local_rot[0], local_rot[1], ab_q[0] - a_, ab_q[1] - b_;
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return local;
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Vector3 local_rot;
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Vector4 local;
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if (H) {
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OptionalJacobian<3, 3> Dw;
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Dw->setZero();
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local_rot = Rot3::Logmap(R_.inverse() * q.R_, Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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(*H)(2, 2) = 1;
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(*H)(3, 3) = 1;
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} else {
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local_rot = Rot3::Logmap(R_.inverse() * q.R_);
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}
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local << local_rot[0], local_rot[1], q.a_ - a_, q.b_ - b_;
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return local;
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}
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void Line3::print(const std::string &s) const {
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std::cout << s << std::endl;
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R_.print("R:\n");
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std::cout << "a: " << a_ << ", b: " << b_ << std::endl;
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std::cout << s << std::endl;
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R_.print("R:\n");
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std::cout << "a: " << a_ << ", b: " << b_ << std::endl;
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}
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bool Line3::equals(const Line3 &l2, double tol) const {
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Vector4 diff = localCoordinates(l2);
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return fabs(diff[0]) < tol && fabs(diff[1]) < tol
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&& fabs(diff[2]) < tol && fabs(diff[3]) < tol;
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Vector4 diff = localCoordinates(l2);
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return fabs(diff[0]) < tol && fabs(diff[1]) < tol
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&& fabs(diff[2]) < tol && fabs(diff[3]) < tol;
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}
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Point3 Line3::project(OptionalJacobian<3, 4> Dline) const {
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Vector3 V_0;
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V_0 << -b_, a_, 0;
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Unit3 Line3::project(OptionalJacobian<2, 4> Dline) const {
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Vector3 V_0;
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V_0 << -b_, a_, 0.0;
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Point3 l = R_ * V_0;
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if (Dline) {
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Dline->setZero();
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Dline->col(0) = a_ * R_.r3();
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Dline->col(1) = b_ * R_.r3();
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Dline->col(2) = R_.r2();
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Dline->col(3) = -R_.r1();
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}
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return l;
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Unit3 l;
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if (Dline) {
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// Jacobian of the normalized Unit3 projected line with respect to
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// un-normalized Vector3 projected line in homogeneous coordinates.
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Eigen::Matrix<double, 2, 3> D_mat = Eigen::Matrix<double, 2, 3>::Zero();
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OptionalJacobian<2, 3> D_unit_line(D_mat);
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l = Unit3::FromPoint3(Point3(R_ * V_0), D_unit_line);
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// Jacobian of the un-normalized Vector3 line with respect to
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// input 3D line
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Eigen::Matrix<double, 3, 4> D_vec_line = Eigen::Matrix<double, 3, 4>::Zero();
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D_vec_line.col(0) = a_ * R_.r3();
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D_vec_line.col(1) = b_ * R_.r3();
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D_vec_line.col(2) = R_.r2();
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D_vec_line.col(3) = -R_.r1();
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// Jacobian of output wrt input is the product of the two.
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Eigen::Matrix<double, 2, 4> Dline_mat = (*D_unit_line) * D_vec_line;
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Dline = OptionalJacobian<2, 4>(Dline_mat);
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} else {
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l = Unit3::FromPoint3(Point3(R_ * V_0));
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}
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return l;
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}
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Point3 Line3::point(int scale) const {
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// defining "center" of the line to be the point where it
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// intercepts rotated XY axis
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Point3 center(a_, b_, 0);
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Point3 rotated_center = R_ * center;
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Point3 direction = (R_.r3()).normalized();
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return rotated_center + scale * direction;
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}
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Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline) {
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Rot3 wRl = wL.R();
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Rot3 wRc = wTc.rotation();
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Rot3 cRw = wRc.inverse();
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Rot3 cRl = cRw * wRl;
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Rot3 wRc = wTc.rotation();
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Rot3 cRw = wRc.inverse();
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Rot3 cRl = cRw * wL.R_;
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Vector2 w_ab = wL.V();
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Vector3 t = (wRl.transpose() * wTc.translation());
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Vector2 c_ab(w_ab[0] - t[0], w_ab[1] - t[1]);
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Vector2 w_ab;
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Vector3 t = ((wL.R_).transpose() * wTc.translation());
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Vector2 c_ab(wL.a_ - t[0], wL.b_ - t[1]);
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if (Dpose) {
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// translation due to translation
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Matrix3 cRl_mat = cRl.matrix();
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Matrix3 lRc = cRl_mat.transpose();
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Dpose->block<1, 3>(2, 3) = -lRc.row(0);
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Dpose->block<1, 3>(3, 3) = -lRc.row(1);
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if (Dpose) {
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// translation due to translation
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Matrix3 cRl_mat = cRl.matrix();
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Matrix3 lRc = cRl_mat.transpose();
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Dpose->block<1, 3>(2, 3) = -lRc.row(0);
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Dpose->block<1, 3>(3, 3) = -lRc.row(1);
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Dpose->block<1, 3>(0, 0) = -lRc.row(0);
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Dpose->block<1, 3>(1, 0) = -lRc.row(1);
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}
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if (Dline) {
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Dline->col(0) << 1.0, 0.0, 0.0, -t[2];
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Dline->col(1) << 0.0, 1.0, t[2], 0.0;
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Dline->col(2) << 0.0, 0.0, 1.0, 0.0;
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Dline->col(3) << 0.0, 0.0, 0.0, 1.0;
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}
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return Line3(cRl, c_ab[0], c_ab[1]);
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Dpose->block<1, 3>(0, 0) = -lRc.row(0);
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Dpose->block<1, 3>(1, 0) = -lRc.row(1);
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}
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if (Dline) {
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Dline->col(0) << 1.0, 0.0, 0.0, -t[2];
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Dline->col(1) << 0.0, 1.0, t[2], 0.0;
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Dline->col(2) << 0.0, 0.0, 1.0, 0.0;
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Dline->col(3) << 0.0, 0.0, 0.0, 1.0;
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}
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return Line3(cRl, c_ab[0], c_ab[1]);
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}
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}
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@ -28,90 +28,83 @@ namespace gtsam {
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* \nosubgrouping
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*/
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class Line3 {
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private:
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Rot3 R_; // Rotation of line about x and y in world frame
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double a_, b_; // Intersection of line with the world x-y plane rotated by R_
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// Also the closest point on line to origin
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public:
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enum { dimension = 4 };
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private:
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Rot3 R_; // Rotation of line about x and y in world frame
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double a_, b_; // Intersection of line with the world x-y plane rotated by R_
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// Also the closest point on line to origin
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public:
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enum { dimension = 4 };
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/** Default constructor is the Z axis **/
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Line3() :
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a_(0), b_(0) {}
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/** Default constructor is the Z axis **/
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Line3() :
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a_(0), b_(0) {}
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/** Constructor:
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* Parallel to z axis, intersecting x-y plane at (a,b) **/
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Line3(const double a, const double b) :
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a_(a), b_(b) {}
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/** Constructor for general line from (R, a, b) **/
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Line3(const Rot3 &R, const double a, const double b) :
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R_(R), a_(a), b_(b) {}
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/** Constructor for general line from (R, a, b) **/
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Line3(const Rot3 &R, const double a, const double b) :
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R_(R), a_(a), b_(b) {}
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/**
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* The retract method maps from the tangent space back to the manifold.
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* The tangent space for the rotation of a line is only two dimensional -
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* rotation about x and y
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* @param v: increment in tangent space
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* @param H: Jacobian of retraction with respect to the increment
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* @return: resulting line after adding the increment and mapping to the manifold
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*/
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Line3 retract(const Vector4 &v, OptionalJacobian<4, 4> H = boost::none) const;
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/**
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* The retract method maps from the tangent space back to the manifold.
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* The tangent space for the rotation of a line is only two dimensional -
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* rotation about x and y
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* @param v: increment in tangent space
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* @param H: Jacobian of retraction with respect to the increment
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* @return: resulting line after adding the increment and mapping to the manifold
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*/
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Line3 retract(const Vector4 &v, OptionalJacobian<4, 4> H = boost::none) const;
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/**
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* The localCoordinates method is the inverse of retract and finds the difference
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* between two lines in the tangent space.
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* @param q Line3 on manifold
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* @param H OptionalJacobian of localCoordinates with respect to line
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* @return difference in the tangent space
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*/
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Vector4 localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H = boost::none) const;
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/**
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* The localCoordinates method is the inverse of retract and finds the difference
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* between two lines in the tangent space.
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* @param q Line3 on manifold
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* @param H OptionalJacobian of localCoordinates with respect to line
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* @return difference in the tangent space
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*/
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Vector4 localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H = boost::none) const;
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/**
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* Print R, a, b
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* @param s: optional starting string
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*/
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void print(const std::string &s = "") const;
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/**
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* Rotation of line accessor
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* @return Rot3
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*/
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Rot3 R() const {
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return R_;
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}
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/**
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* Check if two lines are equal
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* @param l2 - line to be compared
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* @param tol : optional tolerance
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* @return boolean - true if lines are equal
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*/
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bool equals(const Line3 &l2, double tol = 10e-9) const;
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/**
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* Accessor for a, b
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* @return Vector2(a, b)
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*/
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Vector2 V() const {
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return Vector2(a_, b_);
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}
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/**
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* Projecting a line to the image plane. Assumes this line is in camera frame.
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* @param Dline: OptionalJacobian of projected line with respect to this line
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* @return Unit3 - projected line in image plane, in homogenous coordinates.
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* We use Unit3 since it is a manifold with the right dimension.
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*/
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Unit3 project(OptionalJacobian<2, 4> Dline = boost::none) const;
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/**
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* Print R, a, b
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* @param s: optional starting string
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*/
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void print(const std::string &s = "") const;
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/**
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* Returns point on the line that is starting from the point where the rotated XY axis
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* intersects the line, in the direction of the line.
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* @param scale
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* @return
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*/
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Point3 point(int scale = 0) const;
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/**
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* Check if two lines are equal
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* @param l2 - line to be compared
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* @param tol : optional tolerance
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* @return boolean - true if lines are equal
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*/
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bool equals(const Line3 &l2, double tol = 10e-9) const;
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/**
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* Projecting a line to the image plane. Assumes this line is in camera frame.
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* @param Dline: OptionalJacobian of projected line with respect to this line
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* @return Unit3 - projected line in image plane, in homogenous coordinates.
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* We use Unit3 since it is a manifold with the right dimension.
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*/
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Point3 project(OptionalJacobian<3, 4> Dline = boost::none) const;
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/**
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* Transform a line from world to camera frame
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* @param wTc - Pose3 of camera in world frame
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* @param wL - Line3 in world frame
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* @param Dpose - OptionalJacobian of transformed line with respect to p
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* @param Dline - OptionalJacobian of transformed line with respect to l
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* @return Transformed line in camera frame
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*/
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friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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OptionalJacobian<4, 6> Dpose,
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OptionalJacobian<4, 4> Dline);
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};
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template<>
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struct traits<Line3> : public internal::Manifold<Line3> {};
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template<>
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struct traits<const Line3> : public internal::Manifold<Line3> {};
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/**
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* Transform a line from world to camera frame
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* @param wTc - Pose3 of camera in world frame
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@ -123,4 +116,10 @@ struct traits<const Line3> : public internal::Manifold<Line3> {};
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Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
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OptionalJacobian<4, 6> Dpose = boost::none,
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OptionalJacobian<4, 4> Dline = boost::none);
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template<>
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struct traits<Line3> : public internal::Manifold<Line3> {};
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template<>
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struct traits<const Line3> : public internal::Manifold<Line3> {};
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}
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@ -7,112 +7,99 @@
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam/nonlinear/expressionTesting.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(Line3)
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GTSAM_CONCEPT_MANIFOLD_INST(Line3)
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static const Line3 l(1, 1);
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static const Line3 l(Rot3(), 1, 1);
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// Testing equals function of Line3
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TEST(Line3, equals)
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{
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TEST(Line3, equals) {
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Line3 l_same = l;
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EXPECT(l.equals(l_same));
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Line3 l2(1, 2);
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Line3 l2(Rot3(), 1, 2);
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EXPECT(!l.equals(l2));
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}
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// testing localCoordinates along 4 dimensions
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TEST(Line3, localCoordinates)
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{
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TEST(Line3, localCoordinates) {
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// l1 and l differ only in a_
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Line3 l1(2, 1);
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Line3 l1(Rot3(), 2, 1);
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Vector4 v1(0, 0, -1, 0);
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CHECK(assert_equal(l1.localCoordinates(l), v1));
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// l2 and l differ only in b_
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Line3 l2(1, 2);
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Line3 l2(Rot3(), 1, 2);
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Vector4 v2(0, 0, 0, -1);
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CHECK(assert_equal(l2.localCoordinates(l), v2));
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// l3 and l differ in R_x
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Rot3 r3;
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r3 = r3.Expmap(Vector3(M_PI/4, 0, 0));
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Rot3 r3 = Rot3::Expmap(Vector3(M_PI / 4, 0, 0));
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Line3 l3(r3, 1, 1);
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Vector4 v3(-M_PI/4, 0, 0, 0);
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Vector4 v3(-M_PI / 4, 0, 0, 0);
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CHECK(assert_equal(l3.localCoordinates(l), v3));
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// l4 and l differ in R_y
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Rot3 r4;
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r4 = r4.Expmap(Vector3(0, M_PI/4, 0));
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r4 = r4.Expmap(Vector3(0, M_PI / 4, 0));
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Line3 l4(r4, 1, 1);
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Vector4 v4(0, -M_PI/4, 0, 0);
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Vector4 v4(0, -M_PI / 4, 0, 0);
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CHECK(assert_equal(l4.localCoordinates(l), v4));
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}
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// testing retract along 4 dimensions
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TEST(Line3, retract)
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{
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TEST(Line3, retract) {
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// l1 and l differ only in a_
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Vector4 v1(0, 0, 0, 1);
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Line3 l1(1,2);
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Line3 l1(Rot3(), 1, 2);
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EXPECT(l1.equals(l.retract(v1)));
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// l2 and l differ only in b_
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||||
Vector4 v2(0, 0, 1, 0);
|
||||
Line3 l2(2,1);
|
||||
Line3 l2(Rot3(), 2, 1);
|
||||
EXPECT(l2.equals(l.retract(v2)));
|
||||
|
||||
// l3 and l differ in R_x
|
||||
Vector4 v3(M_PI/4, 0, 0, 0);
|
||||
Vector4 v3(M_PI / 4, 0, 0, 0);
|
||||
Rot3 r3;
|
||||
r3 = r3.Expmap(Vector3(M_PI/4, 0, 0));
|
||||
r3 = r3.Expmap(Vector3(M_PI / 4, 0, 0));
|
||||
Line3 l3(r3, 1, 1);
|
||||
EXPECT(l3.equals(l.retract(v3)));
|
||||
|
||||
// l4 and l differ in R_y
|
||||
Vector4 v4(0, M_PI/4, 0, 0);
|
||||
Rot3 r4;
|
||||
r4 = r4.Expmap(Vector3(0, M_PI/4, 0));
|
||||
Vector4 v4(0, M_PI / 4, 0, 0);
|
||||
Rot3 r4 = Rot3::Expmap(Vector3(0, M_PI / 4, 0));
|
||||
Line3 l4(r4, 1, 1);
|
||||
EXPECT(l4.equals(l.retract(v4)));
|
||||
}
|
||||
|
||||
// testing manifold property - Retract(p, Local(p,q)) == q
|
||||
TEST(Line3, retractOfLocalCoordinates)
|
||||
{
|
||||
Rot3 r2;
|
||||
r2.Expmap(Vector3(M_PI/4, M_PI/3, 0));
|
||||
TEST(Line3, retractOfLocalCoordinates) {
|
||||
Rot3 r2 = Rot3::Expmap(Vector3(M_PI / 4, M_PI / 3, 0));
|
||||
Line3 l2(r2, 5, 9);
|
||||
EXPECT(assert_equal(l.retract(l.localCoordinates(l2)), l2));
|
||||
}
|
||||
|
||||
// testing manifold property - Local(p, Retract(p, v)) == v
|
||||
TEST(Line3, localCoordinatesOfRetract)
|
||||
{
|
||||
TEST(Line3, localCoordinatesOfRetract) {
|
||||
Vector4 r2(2.3, 0.987, -3, 4);
|
||||
EXPECT(assert_equal(l.localCoordinates(l.retract(r2)), r2));
|
||||
}
|
||||
|
||||
// transform from world to camera test
|
||||
TEST(Line3, transformToExpressionJacobians)
|
||||
{
|
||||
Rot3 I;
|
||||
Rot3 r = I.Expmap(Vector3(0, M_PI/3, 0));
|
||||
TEST(Line3, transformToExpressionJacobians) {
|
||||
Rot3 r = Rot3::Expmap(Vector3(0, M_PI / 3, 0));
|
||||
Vector3 t(0, 0, 0);
|
||||
Pose3 p(r, t);
|
||||
|
||||
Line3 l_c(r.inverse(), 1, 1);
|
||||
Line3 l_w(1,1);
|
||||
|
||||
Line3 l_w(Rot3(), 1, 1);
|
||||
EXPECT(l_c.equals(transformTo(p, l_w)));
|
||||
|
||||
Line3_ l_(1);
|
||||
Pose3_ p_(2);
|
||||
|
||||
Values val;
|
||||
val.insert(1, l_w);
|
||||
val.insert(2, p);
|
||||
|
|
@ -124,26 +111,23 @@ TEST(Line3, transformToExpressionJacobians)
|
|||
|
||||
|
||||
// projection in camera frame test
|
||||
TEST(Line3, projection)
|
||||
{
|
||||
Rot3 r;
|
||||
r = r.Expmap(Vector3(0, 0, 0));
|
||||
TEST(Line3, projection) {
|
||||
Rot3 r = Rot3::Expmap(Vector3(0, 0, 0));
|
||||
Line3 wL(r, 1, 1);
|
||||
|
||||
Point3 expected(-1, 1, 0);
|
||||
Unit3 expected = Unit3::FromPoint3(Point3(-1, 1, 0));
|
||||
EXPECT(expected.equals(wL.project()));
|
||||
|
||||
Values val;
|
||||
val.insert(1, wL);
|
||||
Line3_ wL_(1);
|
||||
|
||||
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.1);
|
||||
Point3_ projected_(wL_, &Line3::project);
|
||||
ExpressionFactor<Point3> f(model, expected, projected_);
|
||||
SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.1);
|
||||
Unit3_ projected_(wL_, &Line3::project);
|
||||
ExpressionFactor<Unit3> f(model, expected, projected_);
|
||||
EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7);
|
||||
}
|
||||
|
||||
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
|
|
|
|||
Loading…
Reference in New Issue