slam/expressions.h
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1 
8 #pragma once
9 
11 #include <gtsam/geometry/Pose2.h>
12 #include <gtsam/geometry/Cal3_S2.h>
14 #include <gtsam/geometry/Line3.h>
17 
18 namespace gtsam {
19 
20 // 2D Geometry
21 
25 
26 inline Point2_ transformTo(const Pose2_& x, const Point2_& p) {
27  return Point2_(x, &Pose2::transformTo, p);
28 }
29 
30 inline Double_ range(const Point2_& p, const Point2_& q) {
31  return Double_(Range<Point2, Point2>(), p, q);
32 }
33 
34 // 3D Geometry
35 
42 
43 inline Point3_ transformTo(const Pose3_& x, const Point3_& p) {
44  return Point3_(x, &Pose3::transformTo, p);
45 }
46 
47 inline Point3_ transformFrom(const Pose3_& x, const Point3_& p) {
48  return Point3_(x, &Pose3::transformFrom, p);
49 }
50 
51 inline Line3_ transformTo(const Pose3_ &wTc, const Line3_ &wL) {
52  Line3 (*f)(const Pose3 &, const Line3 &,
54  return Line3_(f, wTc, wL);
55 }
56 
57 inline Pose3_ transformPoseTo(const Pose3_& p, const Pose3_& q) {
58  return Pose3_(p, &Pose3::transformPoseTo, q);
59 }
60 
61 inline Point3_ normalize(const Point3_& a){
63  return Point3_(f, a);
64 }
65 
66 inline Point3_ cross(const Point3_& a, const Point3_& b) {
67  Point3 (*f)(const Point3 &, const Point3 &,
69  return Point3_(f, a, b);
70 }
71 
72 inline Double_ dot(const Point3_& a, const Point3_& b) {
73  double (*f)(const Point3 &, const Point3 &,
75  return Double_(f, a, b);
76 }
77 
78 namespace internal {
79 // define getter that returns value rather than reference
81  return pose.rotation(H);
82 }
83 
85  return pose.translation(H);
86 }
87 } // namespace internal
88 
89 inline Rot3_ rotation(const Pose3_& pose) {
90  return Rot3_(internal::rotation, pose);
91 }
92 
93 inline Point3_ translation(const Pose3_& pose) {
95 }
96 
97 inline Point3_ rotate(const Rot3_& x, const Point3_& p) {
98  return Point3_(x, &Rot3::rotate, p);
99 }
100 
101 inline Point3_ point3(const Unit3_& v) {
102  return Point3_(&Unit3::point3, v);
103 }
104 
105 inline Unit3_ rotate(const Rot3_& x, const Unit3_& p) {
106  return Unit3_(x, &Rot3::rotate, p);
107 }
108 
109 inline Point3_ unrotate(const Rot3_& x, const Point3_& p) {
110  return Point3_(x, &Rot3::unrotate, p);
111 }
112 
113 inline Unit3_ unrotate(const Rot3_& x, const Unit3_& p) {
114  return Unit3_(x, &Rot3::unrotate, p);
115 }
116 
119 }
120 
121 inline Unit3_ normal(const OrientedPlane3_& p) {
122  return Unit3_(&OrientedPlane3::normal, p);
123 }
124 
125 // Projection
126 
129 
131 inline Point2_ project(const Point3_& p_cam) {
133  return Point2_(f, p_cam);
134 }
135 
136 inline Point2_ project(const Unit3_& p_cam) {
138  return Point2_(f, p_cam);
139 }
140 
141 namespace internal {
142 // Helper template for project2 expression below
143 template <class CAMERA, class POINT>
146  return camera.project2(p, Dcam, Dpoint);
147 }
148 }
149 
150 template <class CAMERA, class POINT>
152  return Point2_(internal::project4<CAMERA, POINT>, camera_, p_);
153 }
154 
155 namespace internal {
156 // Helper template for project3 expression below
157 template <class CALIBRATION, class POINT>
158 inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
161  return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
162 }
163 }
164 
165 template <class CALIBRATION, class POINT>
166 inline Point2_ project3(const Pose3_& x, const Expression<POINT>& p,
167  const Expression<CALIBRATION>& K) {
168  return Point2_(internal::project6<CALIBRATION, POINT>, x, p, K);
169 }
170 
171 template <class CALIBRATION>
173  return Point2_(K, &CALIBRATION::uncalibrate, xy_hat);
174 }
175 
176 template <class CALIBRATION>
179 }
180 
181 
183 // TODO(dellaert): Should work but fails because of a type deduction conflict.
184 // template <typename T>
185 // gtsam::Expression<typename gtsam::traits<T>::TangentVector> logmap(
186 // const gtsam::Expression<T> &x1, const gtsam::Expression<T> &x2) {
187 // return gtsam::Expression<typename gtsam::traits<T>::TangentVector>(
188 // x1, &T::logmap, x2);
189 // }
190 
191 template <typename T>
196 }
197 
198 } // \namespace gtsam
gtsam::internal::rotation
Rot3 rotation(const Pose3 &pose, OptionalJacobian< 3, 6 > H)
Definition: slam/expressions.h:80
H
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Definition: gnuplot_common_settings.hh:74
gtsam::logmap
gtsam::Expression< typename gtsam::traits< T >::TangentVector > logmap(const gtsam::Expression< T > &x1, const gtsam::Expression< T > &x2)
logmap
Definition: slam/expressions.h:192
Pose2.h
2D Pose
gtsam::project3
Point2_ project3(const Pose3_ &x, const Expression< POINT > &p, const Expression< CALIBRATION > &K)
Definition: slam/expressions.h:166
gtsam::translation
Point3_ translation(const Pose3_ &pose)
Definition: slam/expressions.h:93
pose
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
gtsam::between
Expression< T > between(const Expression< T > &t1, const Expression< T > &t2)
Definition: nonlinear/expressions.h:17
gtsam::Double_
Expression< double > Double_
Definition: nonlinear/expressions.h:28
gtsam::Pose3::transformTo
Point3 transformTo(const Point3 &point, OptionalJacobian< 3, 6 > Hself={}, OptionalJacobian< 3, 3 > Hpoint={}) const
takes point in world coordinates and transforms it to Pose coordinates
Definition: Pose3.cpp:371
Cal3_S2.h
The most common 5DOF 3D->2D calibration.
binary::p_cam
Point3_ p_cam(x, &Pose3::transformTo, p)
gtsam::Range< Point2, Point2 >
Definition: Point2.h:99
x
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Definition: gnuplot_common_settings.hh:12
gtsam::Unit3::point3
Point3 point3(OptionalJacobian< 3, 2 > H={}) const
Return unit-norm Point3.
Definition: Unit3.cpp:144
gtsam::Point2_
Expression< Point2 > Point2_
Definition: slam/expressions.h:22
gtsam::point3
Point3_ point3(const Unit3_ &v)
Definition: slam/expressions.h:101
gtsam::internal::project4
Point2 project4(const CAMERA &camera, const POINT &p, OptionalJacobian< 2, CAMERA::dimension > Dcam, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint)
Definition: slam/expressions.h:144
gtsam::Cal3_S2_
Expression< Cal3_S2 > Cal3_S2_
Definition: slam/expressions.h:127
gtsam::Pose2_
Expression< Pose2 > Pose2_
Definition: slam/expressions.h:24
gtsam::Rot3::unrotate
Point3 unrotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
rotate point from world to rotated frame
Definition: Rot3.cpp:135
gtsam::PinholeBaseK::project
Point2 project(const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
project a 3D point from world coordinates into the image
Definition: PinholePose.h:112
gtsam::Line3_
Expression< Line3 > Line3_
Definition: slam/expressions.h:40
uncalibrate
Point2 uncalibrate(const CAL &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)
Definition: testExpression.cpp:37
OrientedPlane3.h
gtsam::range
Double_ range(const Point2_ &p, const Point2_ &q)
Definition: slam/expressions.h:30
gtsam::Expression
Definition: Expression.h:47
gtsam::project2
Point2_ project2(const Expression< CAMERA > &camera_, const Expression< POINT > &p_)
Definition: slam/expressions.h:151
gtsam::OrientedPlane3_
Expression< OrientedPlane3 > OrientedPlane3_
Definition: slam/expressions.h:41
gtsam::Pose3::transformPoseTo
Pose3 transformPoseTo(const Pose3 &wTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HwTb={}) const
Definition: Pose3.cpp:338
gtsam::Unit3_
Expression< Unit3 > Unit3_
Definition: slam/expressions.h:37
gtsam::transformFrom
Point3_ transformFrom(const Pose3_ &x, const Point3_ &p)
Definition: slam/expressions.h:47
gtsam::normalize
static void normalize(Signature::Row &row)
Definition: Signature.cpp:88
gtsam::Rot2_
Expression< Rot2 > Rot2_
Definition: slam/expressions.h:23
expressions.h
Common expressions, both linear and non-linear.
gtsam::unrotate
Point3_ unrotate(const Rot3_ &x, const Point3_ &p)
Definition: slam/expressions.h:109
gtsam::rotate
Point3_ rotate(const Rot3_ &x, const Point3_ &p)
Definition: slam/expressions.h:97
gtsam::Rot3::rotate
Point3 rotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Definition: Rot3M.cpp:148
gtsam::cross
Point3 cross(const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2)
cross product
Definition: Point3.cpp:64
Eigen::numext::q
EIGEN_DEVICE_FUNC const Scalar & q
Definition: SpecialFunctionsImpl.h:1984
gtsam::transformTo
Line3 transformTo(const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)
Definition: Line3.cpp:94
x1
Pose3 x1
Definition: testPose3.cpp:663
gtsam::Rot3
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
gtsam::Pose3
Definition: Pose3.h:37
gtsam::PinholeCamera
Definition: PinholeCamera.h:33
gtsam::OrientedPlane3::distance
double distance(OptionalJacobian< 1, 3 > H={}) const
Return the perpendicular distance to the origin.
Definition: OrientedPlane3.h:134
gtsam::OrientedPlane3::normal
Unit3 normal(OptionalJacobian< 2, 3 > H={}) const
Return the normal.
Definition: OrientedPlane3.h:128
gtsam::dot
double dot(const V1 &a, const V2 &b)
Definition: Vector.h:195
PinholeCamera.h
Base class for all pinhole cameras.
gtsam::Point2
Vector2 Point2
Definition: Point2.h:32
gtsam::normal
Unit3_ normal(const OrientedPlane3_ &p)
Definition: slam/expressions.h:121
gtsam::uncalibrate
Point2_ uncalibrate(const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
Definition: slam/expressions.h:172
gtsam::Pose2::transformTo
Point2 transformTo(const Point2 &point, OptionalJacobian< 2, 3 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const
Definition: Pose2.cpp:207
gtsam::PinholeBase::Project
static Point2 Project(const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint={})
Definition: CalibratedCamera.cpp:88
tree::f
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Definition: testExpression.cpp:218
gtsam::b
const G & b
Definition: Group.h:79
gtsam::getPose
Pose3_ getPose(const Expression< PinholeCamera< CALIBRATION > > &cam)
Definition: slam/expressions.h:177
gtsam::Point3_
Expression< Point3 > Point3_
Definition: slam/expressions.h:36
a
ArrayXXi a
Definition: Array_initializer_list_23_cxx11.cpp:1
Line3.h
4 dimensional manifold of 3D lines
gtsam
traits
Definition: SFMdata.h:40
gtsam::rotation
Rot3_ rotation(const Pose3_ &pose)
Definition: slam/expressions.h:89
gtsam::traits
Definition: Group.h:36
K
#define K
Definition: igam.h:8
gtsam::OptionalJacobian
Definition: OptionalJacobian.h:38
gtsam::Line3
Definition: Line3.h:44
gtsam::internal::translation
Point3 translation(const Pose3 &pose, OptionalJacobian< 3, 6 > H)
Definition: slam/expressions.h:84
gtsam::Pose3::transformFrom
Point3 transformFrom(const Point3 &point, OptionalJacobian< 3, 6 > Hself={}, OptionalJacobian< 3, 3 > Hpoint={}) const
takes point in Pose coordinates and transforms it to world coordinates
Definition: Pose3.cpp:347
p
float * p
Definition: Tutorial_Map_using.cpp:9
v
Array< int, Dynamic, 1 > v
Definition: Array_initializer_list_vector_cxx11.cpp:1
gtsam::Rot3_
Expression< Rot3 > Rot3_
Definition: slam/expressions.h:38
gtsam::Pose3_
Expression< Pose3 > Pose3_
Definition: slam/expressions.h:39
gtsam::Point3
Vector3 Point3
Definition: Point3.h:38
gtsam::internal::project6
Point2 project6(const Pose3 &x, const POINT &p, const CALIBRATION &K, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, CALIBRATION::dimension > Dcal)
Definition: slam/expressions.h:158
gtsam::distance
Double_ distance(const OrientedPlane3_ &p)
Definition: slam/expressions.h:117
gtsam::FixedDimension
Give fixed size dimension of a type, fails at compile time if dynamic.
Definition: Manifold.h:161
internal
Definition: BandTriangularSolver.h:13
gtsam::Cal3Bundler_
Expression< Cal3Bundler > Cal3Bundler_
Definition: slam/expressions.h:128
gtsam::Unit3
Represents a 3D point on a unit sphere.
Definition: Unit3.h:42
camera
static const CalibratedCamera camera(kDefaultPose)
gtsam::transformPoseTo
Pose3_ transformPoseTo(const Pose3_ &p, const Pose3_ &q)
Definition: slam/expressions.h:57
gtsam::project
Point2_ project(const Point3_ &p_cam)
Expression version of PinholeBase::Project.
Definition: slam/expressions.h:131
Cal3Bundler.h
Calibration used by Bundler.
x2
Pose3 x2(Rot3::Ypr(0.0, 0.0, 0.0), l2)


gtsam
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autogenerated on Sat Nov 16 2024 04:02:17