Wrapped and grouped lots of geometry methods
Richard Roberts
parent
83f656f93d
commit
79f063fbb7
268
gtsam.h
268
gtsam.h
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@ -68,72 +68,142 @@ namespace gtsam {
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//*************************************************************************
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class Point2 {
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// Standard Constructors
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Point2();
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Point2(double x, double y);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point2& pose, double tol) const;
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// Group
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static gtsam::Point2 identity();
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gtsam::Point2 inverse() const;
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gtsam::Point2 compose(const gtsam::Point2& p2) const;
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gtsam::Point2 between(const gtsam::Point2& p2) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Point2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Point2& p) const;
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// Lie Group
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static gtsam::Point2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Point2& p);
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void print(string s) const;
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double x();
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double y();
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Vector localCoordinates(const gtsam::Point2& p);
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gtsam::Point2 compose(const gtsam::Point2& p2);
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gtsam::Point2 between(const gtsam::Point2& p2);
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gtsam::Point2 retract(Vector v);
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// Standard Interface
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double x() const;
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double y() const;
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Vector vector() const;
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};
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class StereoPoint2 {
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// Standard Constructors
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StereoPoint2();
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StereoPoint2(double uL, double uR, double v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::StereoPoint2& point, double tol) const;
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// Group
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static gtsam::StereoPoint2 identity();
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gtsam::StereoPoint2 inverse() const;
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gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const;
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gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::StereoPoint2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::StereoPoint2& p) const;
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// Lie Group
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static gtsam::StereoPoint2 Expmap(Vector v);
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static Vector Logmap(const gtsam::StereoPoint2& p);
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void print(string s) const;
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Vector localCoordinates(const gtsam::StereoPoint2& p);
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gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2);
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gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2);
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gtsam::StereoPoint2 retract(Vector v);
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// Standard Interface
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Vector vector() const;
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};
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class Point3 {
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// Standard Constructors
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point3& p, double tol) const;
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// Group
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static gtsam::Point3 identity();
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gtsam::Point3 inverse() const;
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gtsam::Point3 compose(const gtsam::Point3& p2) const;
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gtsam::Point3 between(const gtsam::Point3& p2) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Point3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Point3& p) const;
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// Lie Group
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static gtsam::Point3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Point3& p);
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void print(string s) const;
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bool equals(const gtsam::Point3& p, double tol);
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// Standard Interface
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Vector vector() const;
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double x();
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double y();
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double z();
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Vector localCoordinates(const gtsam::Point3& p);
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gtsam::Point3 retract(Vector v);
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gtsam::Point3 compose(const gtsam::Point3& p2);
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gtsam::Point3 between(const gtsam::Point3& p2);
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double x() const;
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double y() const;
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double z() const;
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};
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class Rot2 {
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// Standard Constructors and Named Constructors
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Rot2();
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Rot2(double theta);
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static gtsam::Rot2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot2& p);
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static gtsam::Rot2 fromAngle(double theta);
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static gtsam::Rot2 fromDegrees(double theta);
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static gtsam::Rot2 fromCosSin(double c, double s);
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static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
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static gtsam::Rot2 atan2(double y, double x);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Rot2& rot, double tol) const;
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// Group
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static gtsam::Rot2 identity();
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static gtsam::Rot2 inverse();
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gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
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gtsam::Rot2 between(const gtsam::Rot2& p2) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Rot2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot2& p) const;
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// Lie Group
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static gtsam::Rot2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot2& p);
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// Group Action on Point2
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gtsam::Point2 rotate(const gtsam::Point2& point) const;
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gtsam::Point2 unrotate(const gtsam::Point2& point) const;
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// Standard Interface
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static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
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static gtsam::Rot2 atan2(double y, double x);
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double theta() const;
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double degrees() const;
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double c() const;
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double s() const;
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Vector localCoordinates(const gtsam::Rot2& p);
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gtsam::Rot2 retract(Vector v);
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gtsam::Rot2 compose(const gtsam::Rot2& p2);
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gtsam::Rot2 between(const gtsam::Rot2& p2);
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Matrix matrix() const;
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};
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class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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static gtsam::Rot3 Rx(double t);
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@ -147,17 +217,29 @@ class Rot3 {
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static gtsam::Rot3 ypr(double y, double p, double r);
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static gtsam::Rot3 quaternion(double w, double x, double y, double z);
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static gtsam::Rot3 rodriguez(Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Rot3& rot, double tol) const;
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// Group
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static gtsam::Rot3 identity();
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gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
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gtsam::Rot3 inverse() const;
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gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
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gtsam::Rot3 between(const gtsam::Rot3& p2) const;
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gtsam::Point3 rotate(const gtsam::Point3& p) const;
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gtsam::Point3 unrotate(const gtsam::Point3& p) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Rot3 retractCayley(Vector v) const;
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gtsam::Rot3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot3& p) const;
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// Group Action on Point3
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gtsam::Point3 rotate(const gtsam::Point3& p) const;
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gtsam::Point3 unrotate(const gtsam::Point3& p) const;
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// Standard Interface
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static gtsam::Rot3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot3& p);
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Matrix matrix() const;
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@ -170,30 +252,53 @@ class Rot3 {
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double pitch() const;
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double yaw() const;
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// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
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Matrix matrix() const;
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};
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class Pose2 {
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// Standard Constructor
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Pose2();
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Pose2(double x, double y, double theta);
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Pose2(double theta, const gtsam::Point2& t);
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Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
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Pose2(Vector v);
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static gtsam::Pose2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose2& p);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Pose2& pose, double tol) const;
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// Group
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static gtsam::Pose2 identity();
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gtsam::Pose2 inverse() const;
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gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
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gtsam::Pose2 between(const gtsam::Pose2& p2) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Pose2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Pose2& p) const;
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// Lie Group
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static gtsam::Pose2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose2& p);
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Matrix adjointMap() const;
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Vector adjoint() const;
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static Matrix wedge();
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// Group Actions on Point2
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gtsam::Point2 transform_from(const gtsam::Point2& p) const;
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gtsam::Point2 transform_to(const gtsam::Point2& p) const;
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// Standard Interface
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double x() const;
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double y() const;
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double theta() const;
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size_t dim() const;
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Vector localCoordinates(const gtsam::Pose2& p);
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gtsam::Pose2 retract(Vector v);
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gtsam::Pose2 compose(const gtsam::Pose2& p2);
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gtsam::Pose2 between(const gtsam::Pose2& p2);
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gtsam::Rot2 bearing(const gtsam::Point2& point);
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double range(const gtsam::Point2& point);
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gtsam::Rot2 bearing(const gtsam::Point2& point) const;
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double range(const gtsam::Point2& point) const;
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gtsam::Point2 translation() const;
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gtsam::Rot2 rotation() const;
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Matrix matrix() const;
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};
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class Pose3 {
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@ -210,15 +315,15 @@ class Pose3 {
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// Group
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static gtsam::Pose3 identity();
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gtsam::Pose3 inverse();
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gtsam::Pose3 compose(const gtsam::Pose3& p2);
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gtsam::Pose3 between(const gtsam::Pose3& p2);
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gtsam::Pose3 inverse() const;
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gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
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gtsam::Pose3 between(const gtsam::Pose3& p2) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Pose3 retract(Vector v);
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gtsam::Pose3 retractFirstOrder(Vector v);
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gtsam::Pose3 retract(Vector v) const;
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gtsam::Pose3 retractFirstOrder(Vector v) const;
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Vector localCoordinates(const gtsam::Pose3& T2) const;
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// Lie Group
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@ -245,40 +350,97 @@ class Pose3 {
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};
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class Cal3_S2 {
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// Standard Constructors
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Cal3_S2();
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Cal3_S2(double fx, double fy, double s, double u0, double v0);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Cal3_S2& pose, double tol) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Cal3_S2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Cal3_S2& c) const;
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// Action on Point2
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gtsam::Point2 calibrate(const gtsam::Point2& p) const;
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gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
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// Standard Interface
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double fx() const;
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double fy() const;
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double skew() const;
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double px() const;
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double py() const;
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gtsam::Point2 principalPoint() const;
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Vector vector() const;
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Matrix matrix() const;
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Matrix matrix_inverse() const;
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};
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class Cal3_S2Stereo {
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// Standard Constructors
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Cal3_S2Stereo();
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Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const;
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::Cal3_S2Stereo retract(Vector v) const;
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Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const;
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// Action on Point2
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gtsam::Point2 calibrate(const gtsam::Point2& p) const;
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gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
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// Standard Interface
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double fx() const;
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double fy() const;
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double skew() const;
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double px() const;
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double py() const;
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gtsam::Point2 principalPoint() const;
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Vector vector() const;
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Matrix matrix() const;
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Matrix matrix_inverse() const;
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double baseline() const;
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};
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class CalibratedCamera {
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// Standard Constructors and Named Constructors
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CalibratedCamera();
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CalibratedCamera(const gtsam::Pose3& pose);
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CalibratedCamera(const Vector& v);
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gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::CalibratedCamera& camera, double tol) const;
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gtsam::Pose3 pose() const;
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gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
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gtsam::CalibratedCamera inverse() const;
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gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height);
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// Manifold
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static size_t Dim();
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size_t dim() const;
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gtsam::CalibratedCamera retract(const Vector& d) const;
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Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
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// Group
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gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
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gtsam::CalibratedCamera inverse() const;
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// Action on Point3
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gtsam::Point2 project(const gtsam::Point3& point) const;
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static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
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};
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// Standard Interface
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gtsam::Pose3 pose() const;
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double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods
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};
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//*************************************************************************
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// inference
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@ -108,7 +108,7 @@ Vector Pose2::localCoordinates(const Pose2& p2) const {
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/* ************************************************************************* */
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// Calculate Adjoint map
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// Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
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Matrix Pose2::AdjointMap() const {
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Matrix Pose2::adjointMap() const {
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double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y();
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return Matrix_(3,3,
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c, -s, y,
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@ -119,7 +119,7 @@ Matrix Pose2::AdjointMap() const {
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/* ************************************************************************* */
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Pose2 Pose2::inverse(boost::optional<Matrix&> H1) const {
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if (H1) *H1 = -AdjointMap();
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if (H1) *H1 = -adjointMap();
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return Pose2(r_.inverse(), r_.unrotate(Point2(-t_.x(), -t_.y())));
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}
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@ -142,7 +142,7 @@ Point2 Pose2::transform_to(const Point2& point,
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Pose2 Pose2::compose(const Pose2& p2, boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) const {
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// TODO: inline and reuse?
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if(H1) *H1 = p2.inverse().AdjointMap();
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if(H1) *H1 = p2.inverse().adjointMap();
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if(H2) *H2 = I3;
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return (*this)*p2;
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}
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@ -158,10 +158,10 @@ public:
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* Calculate Adjoint map
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* Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
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*/
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Matrix AdjointMap() const;
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inline Vector Adjoint(const Vector& xi) const {
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Matrix adjointMap() const;
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inline Vector adjoint(const Vector& xi) const {
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assert(xi.size() == 3);
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return AdjointMap()*xi;
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return adjointMap()*xi;
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}
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/**
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@ -426,7 +426,7 @@ TEST( Pose2, between )
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EXPECT(assert_equal(expectedH1,actualH1));
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EXPECT(assert_equal(numericalH1,actualH1));
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// Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx
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EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1));
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EXPECT(assert_equal(-gT2.between(gT1).adjointMap(),actualH1));
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Matrix expectedH2 = Matrix_(3,3,
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1.0, 0.0, 0.0,
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