100 lines
3.0 KiB
C++
100 lines
3.0 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Point3.cpp
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* @brief 3D Point
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*/
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#include <gtsam/geometry/Point3.h>
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#include <cmath>
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#include <iostream>
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#include <vector>
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian<1, 3> H1,
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OptionalJacobian<1, 3> H2) {
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double d = (q - p1).norm();
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if (H1) {
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*H1 << p1.x() - q.x(), p1.y() - q.y(), p1.z() - q.z();
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*H1 = *H1 *(1. / d);
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}
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if (H2) {
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*H2 << -p1.x() + q.x(), -p1.y() + q.y(), -p1.z() + q.z();
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*H2 = *H2 *(1. / d);
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}
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return d;
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}
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double norm3(const Point3 &p, OptionalJacobian<1, 3> H) {
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double r = sqrt(p.x() * p.x() + p.y() * p.y() + p.z() * p.z());
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if (H) {
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if (std::abs(r) > 1e-10)
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*H << p.x() / r, p.y() / r, p.z() / r;
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else
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*H << 1, 1, 1; // really infinity, why 1 ?
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}
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return r;
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}
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Point3 normalize(const Point3 &p, OptionalJacobian<3, 3> H) {
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Point3 normalized = p / p.norm();
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if (H) {
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// 3*3 Derivative
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double x2 = p.x() * p.x(), y2 = p.y() * p.y(), z2 = p.z() * p.z();
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double xy = p.x() * p.y(), xz = p.x() * p.z(), yz = p.y() * p.z();
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*H << y2 + z2, -xy, -xz, /**/ -xy, x2 + z2, -yz, /**/ -xz, -yz, x2 + y2;
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*H /= pow(x2 + y2 + z2, 1.5);
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}
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return normalized;
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}
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Point3 cross(const Point3 &p, const Point3 &q, OptionalJacobian<3, 3> H1,
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OptionalJacobian<3, 3> H2) {
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if (H1) *H1 << skewSymmetric(-q.x(), -q.y(), -q.z());
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if (H2) *H2 << skewSymmetric(p.x(), p.y(), p.z());
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return Point3(p.y() * q.z() - p.z() * q.y(), p.z() * q.x() - p.x() * q.z(),
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p.x() * q.y() - p.y() * q.x());
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}
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double dot(const Point3 &p, const Point3 &q, OptionalJacobian<1, 3> H1,
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OptionalJacobian<1, 3> H2) {
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if (H1) *H1 << q.x(), q.y(), q.z();
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if (H2) *H2 << p.x(), p.y(), p.z();
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return p.x() * q.x() + p.y() * q.y() + p.z() * q.z();
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}
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Point3Pair means(const std::vector<Point3Pair> &abPointPairs) {
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const size_t n = abPointPairs.size();
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if (n == 0) throw std::invalid_argument("Point3::mean input Point3Pair vector is empty");
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Point3 aSum(0, 0, 0), bSum(0, 0, 0);
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for (const Point3Pair &abPair : abPointPairs) {
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aSum += abPair.first;
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bSum += abPair.second;
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}
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const double f = 1.0 / n;
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return {aSum * f, bSum * f};
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}
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/* ************************************************************************* */
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ostream &operator<<(ostream &os, const gtsam::Point3Pair &p) {
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os << p.first << " <-> " << p.second;
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return os;
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}
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/* ************************************************************************* */
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} // namespace gtsam
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