Point3.cpp
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
17 #include <gtsam/geometry/Point3.h>
18 #include <cmath>
19 #include <iostream>
20 #include <vector>
21 
22 using namespace std;
23 
24 namespace gtsam {
25 
26 /* ************************************************************************* */
27 double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian<1, 3> H1,
29  double d = (q - p1).norm();
30  if (H1) {
31  *H1 << p1.x() - q.x(), p1.y() - q.y(), p1.z() - q.z();
32  *H1 = *H1 *(1. / d);
33  }
34  if (H2) {
35  *H2 << -p1.x() + q.x(), -p1.y() + q.y(), -p1.z() + q.z();
36  *H2 = *H2 *(1. / d);
37  }
38  return d;
39 }
40 
42  double r = sqrt(p.x() * p.x() + p.y() * p.y() + p.z() * p.z());
43  if (H) {
44  if (std::abs(r) > 1e-10)
45  *H << p.x() / r, p.y() / r, p.z() / r;
46  else
47  *H << 1, 1, 1; // really infinity, why 1 ?
48  }
49  return r;
50 }
51 
53  Point3 normalized = p / p.norm();
54  if (H) {
55  // 3*3 Derivative
56  double x2 = p.x() * p.x(), y2 = p.y() * p.y(), z2 = p.z() * p.z();
57  double xy = p.x() * p.y(), xz = p.x() * p.z(), yz = p.y() * p.z();
58  *H << y2 + z2, -xy, -xz, -xy, x2 + z2, -yz, -xz, -yz, x2 + y2;
59  *H /= pow(x2 + y2 + z2, 1.5);
60  }
61  return normalized;
62 }
63 
66  if (H1) *H1 << skewSymmetric(-q.x(), -q.y(), -q.z());
67  if (H2) *H2 << skewSymmetric(p.x(), p.y(), p.z());
68  return Point3(p.y() * q.z() - p.z() * q.y(), p.z() * q.x() - p.x() * q.z(),
69  p.x() * q.y() - p.y() * q.x());
70 }
71 
72 double dot(const Point3 &p, const Point3 &q, OptionalJacobian<1, 3> H1,
74  if (H1) *H1 << q.x(), q.y(), q.z();
75  if (H2) *H2 << p.x(), p.y(), p.z();
76  return p.x() * q.x() + p.y() * q.y() + p.z() * q.z();
77 }
78 
79 Point3Pair means(const std::vector<Point3Pair> &abPointPairs) {
80  const size_t n = abPointPairs.size();
81  if (n == 0) throw std::invalid_argument("Point3::mean input Point3Pair vector is empty");
82  Point3 aSum(0, 0, 0), bSum(0, 0, 0);
83  for (const Point3Pair &abPair : abPointPairs) {
84  aSum += abPair.first;
85  bSum += abPair.second;
86  }
87  const double f = 1.0 / n;
88  return {aSum * f, bSum * f};
89 }
90 
91 /* ************************************************************************* */
92 ostream &operator<<(ostream &os, const gtsam::Point3Pair &p) {
93  os << p.first << " <-> " << p.second;
94  return os;
95 }
96 
97 /* ************************************************************************* */
98 
99 } // namespace gtsam
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Definition: Point3.cpp:72
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Definition: Point3.cpp:64
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Definition: Point3.cpp:92
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Definition: Point3.cpp:41
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Definition: Point3.h:38
Point3Pair means(const std::vector< Point3Pair > &abPointPairs)
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Definition: Point3.cpp:79
double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1, OptionalJacobian< 1, 3 > H2)
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Definition: Point3.cpp:27
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Definition: datatypes.h:17
Point3 normalize(const Point3 &p, OptionalJacobian< 3, 3 > H)
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Definition: Point3.cpp:52
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Definition: Point3.h:42


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autogenerated on Tue Jul 4 2023 02:35:14