256 lines
8.3 KiB
C++
256 lines
8.3 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file matlab.h
|
|
* @brief Contains *generic* global functions designed particularly for the matlab interface
|
|
* @author Stephen Williams
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/slam/ProjectionFactor.h>
|
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
#include <gtsam/nonlinear/Values.h>
|
|
#include <gtsam/geometry/Point2.h>
|
|
#include <gtsam/geometry/Point3.h>
|
|
#include <gtsam/geometry/Pose2.h>
|
|
#include <gtsam/geometry/Pose3.h>
|
|
#include <gtsam/geometry/Cal3_S2.h>
|
|
#include <gtsam/geometry/SimpleCamera.h>
|
|
|
|
#include <boost/foreach.hpp>
|
|
|
|
#include <exception>
|
|
|
|
namespace gtsam {
|
|
|
|
namespace utilities {
|
|
|
|
// Create a KeyList from indices
|
|
FastList<Key> createKeyList(const Vector& I) {
|
|
FastList<Key> set;
|
|
for (int i = 0; i < I.size(); i++)
|
|
set.push_back(I[i]);
|
|
return set;
|
|
}
|
|
|
|
// Create a KeyList from indices using symbol
|
|
FastList<Key> createKeyList(string s, const Vector& I) {
|
|
FastList<Key> set;
|
|
char c = s[0];
|
|
for (int i = 0; i < I.size(); i++)
|
|
set.push_back(Symbol(c, I[i]));
|
|
return set;
|
|
}
|
|
|
|
// Create a KeyVector from indices
|
|
FastVector<Key> createKeyVector(const Vector& I) {
|
|
FastVector<Key> set;
|
|
for (int i = 0; i < I.size(); i++)
|
|
set.push_back(I[i]);
|
|
return set;
|
|
}
|
|
|
|
// Create a KeyVector from indices using symbol
|
|
FastVector<Key> createKeyVector(string s, const Vector& I) {
|
|
FastVector<Key> set;
|
|
char c = s[0];
|
|
for (int i = 0; i < I.size(); i++)
|
|
set.push_back(Symbol(c, I[i]));
|
|
return set;
|
|
}
|
|
|
|
// Create a KeySet from indices
|
|
FastSet<Key> createKeySet(const Vector& I) {
|
|
FastSet<Key> set;
|
|
for (int i = 0; i < I.size(); i++)
|
|
set.insert(I[i]);
|
|
return set;
|
|
}
|
|
|
|
// Create a KeySet from indices using symbol
|
|
FastSet<Key> createKeySet(string s, const Vector& I) {
|
|
FastSet<Key> set;
|
|
char c = s[0];
|
|
for (int i = 0; i < I.size(); i++)
|
|
set.insert(symbol(c, I[i]));
|
|
return set;
|
|
}
|
|
|
|
/// Extract all Point2 values into a single matrix [x y]
|
|
Matrix extractPoint2(const Values& values) {
|
|
size_t j = 0;
|
|
Values::ConstFiltered<Point2> points = values.filter<Point2>();
|
|
Matrix result(points.size(), 2);
|
|
BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, points)
|
|
result.row(j++) = key_value.value.vector();
|
|
return result;
|
|
}
|
|
|
|
/// Extract all Point3 values into a single matrix [x y z]
|
|
Matrix extractPoint3(const Values& values) {
|
|
Values::ConstFiltered<Point3> points = values.filter<Point3>();
|
|
Matrix result(points.size(), 3);
|
|
size_t j = 0;
|
|
BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, points)
|
|
result.row(j++) = key_value.value.vector();
|
|
return result;
|
|
}
|
|
|
|
/// Extract all Pose2 values into a single matrix [x y theta]
|
|
Matrix extractPose2(const Values& values) {
|
|
Values::ConstFiltered<Pose2> poses = values.filter<Pose2>();
|
|
Matrix result(poses.size(), 3);
|
|
size_t j = 0;
|
|
BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& key_value, poses)
|
|
result.row(j++) << key_value.value.x(), key_value.value.y(), key_value.value.theta();
|
|
return result;
|
|
}
|
|
|
|
/// Extract all Pose3 values
|
|
Values allPose3s(const Values& values) {
|
|
return values.filter<Pose3>();
|
|
}
|
|
|
|
/// Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z]
|
|
Matrix extractPose3(const Values& values) {
|
|
Values::ConstFiltered<Pose3> poses = values.filter<Pose3>();
|
|
Matrix result(poses.size(), 12);
|
|
size_t j = 0;
|
|
BOOST_FOREACH(const Values::ConstFiltered<Pose3>::KeyValuePair& key_value, poses) {
|
|
result.row(j).segment(0, 3) << key_value.value.rotation().matrix().row(0);
|
|
result.row(j).segment(3, 3) << key_value.value.rotation().matrix().row(1);
|
|
result.row(j).segment(6, 3) << key_value.value.rotation().matrix().row(2);
|
|
result.row(j).tail(3) = key_value.value.translation().vector();
|
|
j++;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
/// Perturb all Point2 values using normally distributed noise
|
|
void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
|
|
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,
|
|
sigma);
|
|
Sampler sampler(model, seed);
|
|
BOOST_FOREACH(const Values::ConstFiltered<Point2>::KeyValuePair& key_value, values.filter<Point2>()) {
|
|
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
|
}
|
|
}
|
|
|
|
/// Perturb all Pose2 values using normally distributed noise
|
|
void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed =
|
|
42u) {
|
|
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(
|
|
Vector3(sigmaT, sigmaT, sigmaR));
|
|
Sampler sampler(model, seed);
|
|
BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& key_value, values.filter<Pose2>()) {
|
|
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
|
}
|
|
}
|
|
|
|
/// Perturb all Point3 values using normally distributed noise
|
|
void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
|
|
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,
|
|
sigma);
|
|
Sampler sampler(model, seed);
|
|
BOOST_FOREACH(const Values::ConstFiltered<Point3>::KeyValuePair& key_value, values.filter<Point3>()) {
|
|
values.update(key_value.key, key_value.value.retract(sampler.sample()));
|
|
}
|
|
}
|
|
|
|
/// Insert a number of initial point values by backprojecting
|
|
void insertBackprojections(Values& values, const SimpleCamera& camera,
|
|
const Vector& J, const Matrix& Z, double depth) {
|
|
if (Z.rows() != 2)
|
|
throw std::invalid_argument("insertBackProjections: Z must be 2*K");
|
|
if (Z.cols() != J.size())
|
|
throw std::invalid_argument(
|
|
"insertBackProjections: J and Z must have same number of entries");
|
|
for (int k = 0; k < Z.cols(); k++) {
|
|
Point2 p(Z(0, k), Z(1, k));
|
|
Point3 P = camera.backproject(p, depth);
|
|
values.insert(J(k), P);
|
|
}
|
|
}
|
|
|
|
/// Insert multiple projection factors for a single pose key
|
|
void insertProjectionFactors(NonlinearFactorGraph& graph, Key i,
|
|
const Vector& J, const Matrix& Z, const SharedNoiseModel& model,
|
|
const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
|
|
if (Z.rows() != 2)
|
|
throw std::invalid_argument("addMeasurements: Z must be 2*K");
|
|
if (Z.cols() != J.size())
|
|
throw std::invalid_argument(
|
|
"addMeasurements: J and Z must have same number of entries");
|
|
for (int k = 0; k < Z.cols(); k++) {
|
|
graph.push_back(
|
|
boost::make_shared<GenericProjectionFactor<Pose3, Point3> >(
|
|
Point2(Z(0, k), Z(1, k)), model, i, Key(J(k)), K, body_P_sensor));
|
|
}
|
|
}
|
|
|
|
/// Calculate the errors of all projection factors in a graph
|
|
Matrix reprojectionErrors(const NonlinearFactorGraph& graph,
|
|
const Values& values) {
|
|
// first count
|
|
size_t K = 0, k = 0;
|
|
BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph)
|
|
if (boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
|
|
f))
|
|
++K;
|
|
// now fill
|
|
Matrix errors(2, K);
|
|
BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph) {
|
|
boost::shared_ptr<const GenericProjectionFactor<Pose3, Point3> > p =
|
|
boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
|
|
f);
|
|
if (p)
|
|
errors.col(k++) = p->unwhitenedError(values);
|
|
}
|
|
return errors;
|
|
}
|
|
|
|
/// Convert from local to world coordinates
|
|
Values localToWorld(const Values& local, const Pose2& base,
|
|
const FastVector<Key> user_keys = FastVector<Key>()) {
|
|
|
|
Values world;
|
|
|
|
// if no keys given, get all keys from local values
|
|
FastVector<Key> keys(user_keys);
|
|
if (keys.size()==0)
|
|
keys = FastVector<Key>(local.keys());
|
|
|
|
// Loop over all keys
|
|
BOOST_FOREACH(Key key, keys) {
|
|
try {
|
|
// if value is a Pose2, compose it with base pose
|
|
Pose2 pose = local.at<Pose2>(key);
|
|
world.insert(key, base.compose(pose));
|
|
} catch (std::exception e1) {
|
|
try {
|
|
// if value is a Point2, transform it from base pose
|
|
Point2 point = local.at<Point2>(key);
|
|
world.insert(key, base.transform_from(point));
|
|
} catch (std::exception e2) {
|
|
// if not Pose2 or Point2, do nothing
|
|
}
|
|
}
|
|
}
|
|
return world;
|
|
}
|
|
|
|
}
|
|
}
|
|
|