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gtsam::Similarity3 Class Reference

#include <Similarity3.h>

Inheritance diagram for gtsam::Similarity3:
Inheritance graph
[legend]

Classes

struct  ChartAtOrigin
 Chart at the origin. More...
 

Public Member Functions

Constructors
 Similarity3 ()
 Default constructor. More...
 
 Similarity3 (double s)
 Construct pure scaling. More...
 
 Similarity3 (const Rot3 &R, const Point3 &t, double s)
 Construct from GTSAM types. More...
 
 Similarity3 (const Matrix3 &R, const Vector3 &t, double s)
 Construct from Eigen types. More...
 
 Similarity3 (const Matrix4 &T)
 Construct from matrix [R t; 0 s^-1]. More...
 
- Public Member Functions inherited from gtsam::LieGroup< Similarity3, 7 >
Similarity3 between (const Similarity3 &g) const
 
Similarity3 between (const Similarity3 &g, ChartJacobian H1, ChartJacobian H2={}) const
 
SOn between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
GTSAM_EXPORT SOn between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
Similarity3 compose (const Similarity3 &g) const
 
Similarity3 compose (const Similarity3 &g, ChartJacobian H1, ChartJacobian H2={}) const
 
SOn compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
GTSAM_EXPORT SOn compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const
 
const Similarity3derived () const
 
Similarity3 expmap (const TangentVector &v) const
 
Similarity3 expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
 expmap with optional derivatives More...
 
Similarity3 inverse (ChartJacobian H) const
 
TangentVector localCoordinates (const Similarity3 &g) const
 localCoordinates as required by manifold concept: finds tangent vector between *this and g More...
 
TangentVector localCoordinates (const Similarity3 &g, ChartJacobian H1, ChartJacobian H2={}) const
 localCoordinates with optional derivatives More...
 
TangentVector logmap (const Similarity3 &g) const
 
TangentVector logmap (const Similarity3 &g, ChartJacobian H1, ChartJacobian H2={}) const
 logmap with optional derivatives More...
 
Similarity3 retract (const TangentVector &v) const
 retract as required by manifold concept: applies v at *this More...
 
Similarity3 retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
 retract with optional derivatives More...
 

Private Types

Pose Concept
typedef Rot3 Rotation
 
typedef Point3 Translation
 

Static Private Member Functions

Helper functions
static Matrix3 GetV (Vector3 w, double lambda)
 Calculate expmap and logmap coefficients. More...
 

Private Attributes

Rot3 R_
 
double s_
 
Point3 t_
 

Testable

bool equals (const Similarity3 &sim, double tol) const
 Compare with tolerance. More...
 
bool operator== (const Similarity3 &other) const
 Exact equality. More...
 
void print (const std::string &s) const
 Print with optional string. More...
 
std::ostream & operator<< (std::ostream &os, const Similarity3 &p)
 

Group

Similarity3 operator* (const Similarity3 &S) const
 Composition. More...
 
Similarity3 inverse () const
 Return the inverse. More...
 
static Similarity3 Identity ()
 Return an identity transform. More...
 

Group action on Point3

Point3 transformFrom (const Point3 &p, OptionalJacobian< 3, 7 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
 Action on a point p is s*(R*p+t) More...
 
Pose3 transformFrom (const Pose3 &T) const
 
Point3 operator* (const Point3 &p) const
 
static Similarity3 Align (const Point3Pairs &abPointPairs)
 
static Similarity3 Align (const std::vector< Pose3Pair > &abPosePairs)
 

Lie Group

Matrix7 AdjointMap () const
 Project from one tangent space to another. More...
 
static Vector7 Logmap (const Similarity3 &s, OptionalJacobian< 7, 7 > Hm={})
 
static Similarity3 Expmap (const Vector7 &v, OptionalJacobian< 7, 7 > Hm={})
 
static Matrix4 wedge (const Vector7 &xi)
 

Standard interface

Matrix4 matrix () const
 Calculate 4*4 matrix group equivalent. More...
 
Rot3 rotation () const
 Return a GTSAM rotation. More...
 
Point3 translation () const
 Return a GTSAM translation. More...
 
double scale () const
 Return the scale. More...
 
size_t dim () const
 Dimensionality of tangent space = 7 DOF. More...
 
static size_t Dim ()
 Dimensionality of tangent space = 7 DOF - used to autodetect sizes. More...
 

Additional Inherited Members

- Public Types inherited from gtsam::LieGroup< Similarity3, 7 >
enum  
 
typedef OptionalJacobian< N, NChartJacobian
 
typedef Eigen::Matrix< double, N, NJacobian
 
typedef Eigen::Matrix< double, N, 1 > TangentVector
 
- Static Public Member Functions inherited from gtsam::LieGroup< Similarity3, 7 >
static TangentVector LocalCoordinates (const Similarity3 &g)
 LocalCoordinates at origin: possible in Lie group because it has an identity. More...
 
static TangentVector LocalCoordinates (const Similarity3 &g, ChartJacobian H)
 LocalCoordinates at origin with optional derivative. More...
 
static Similarity3 Retract (const TangentVector &v)
 Retract at origin: possible in Lie group because it has an identity. More...
 
static Similarity3 Retract (const TangentVector &v, ChartJacobian H)
 Retract at origin with optional derivative. More...
 

Detailed Description

3D similarity transform

Definition at line 36 of file Similarity3.h.

Member Typedef Documentation

◆ Rotation

Definition at line 39 of file Similarity3.h.

◆ Translation

Definition at line 40 of file Similarity3.h.

Constructor & Destructor Documentation

◆ Similarity3() [1/5]

gtsam::Similarity3::Similarity3 ( )

Default constructor.

Definition at line 88 of file Similarity3.cpp.

◆ Similarity3() [2/5]

gtsam::Similarity3::Similarity3 ( double  s)

Construct pure scaling.

Definition at line 92 of file Similarity3.cpp.

◆ Similarity3() [3/5]

gtsam::Similarity3::Similarity3 ( const Rot3 R,
const Point3 t,
double  s 
)

Construct from GTSAM types.

Definition at line 96 of file Similarity3.cpp.

◆ Similarity3() [4/5]

gtsam::Similarity3::Similarity3 ( const Matrix3 &  R,
const Vector3 t,
double  s 
)

Construct from Eigen types.

Definition at line 100 of file Similarity3.cpp.

◆ Similarity3() [5/5]

gtsam::Similarity3::Similarity3 ( const Matrix4 &  T)

Construct from matrix [R t; 0 s^-1].

Definition at line 104 of file Similarity3.cpp.

Member Function Documentation

◆ AdjointMap()

Matrix7 gtsam::Similarity3::AdjointMap ( ) const

Project from one tangent space to another.

Definition at line 206 of file Similarity3.cpp.

◆ Align() [1/2]

Similarity3 gtsam::Similarity3::Align ( const Point3Pairs abPointPairs)
static

Create Similarity3 by aligning at least three point pairs

Definition at line 161 of file Similarity3.cpp.

◆ Align() [2/2]

Similarity3 gtsam::Similarity3::Align ( const std::vector< Pose3Pair > &  abPosePairs)
static

Create the Similarity3 object that aligns at least two pose pairs. Each pair is of the form (aTi, bTi). Given a list of pairs in frame a, and a list of pairs in frame b, Align() will compute the best-fit Similarity3 aSb transformation to align them. First, the rotation aRb will be computed as the average (Karcher mean) of many estimates aRb (from each pair). Afterwards, the scale factor will be computed using the algorithm described here: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf

Definition at line 174 of file Similarity3.cpp.

◆ Dim()

static size_t gtsam::Similarity3::Dim ( )
inlinestatic

Dimensionality of tangent space = 7 DOF - used to autodetect sizes.

Definition at line 194 of file Similarity3.h.

◆ dim()

size_t gtsam::Similarity3::dim ( ) const
inline

Dimensionality of tangent space = 7 DOF.

Definition at line 197 of file Similarity3.h.

◆ equals()

bool gtsam::Similarity3::equals ( const Similarity3 sim,
double  tol 
) const

Compare with tolerance.

Definition at line 108 of file Similarity3.cpp.

◆ Expmap()

Similarity3 gtsam::Similarity3::Expmap ( const Vector7 &  v,
OptionalJacobian< 7, 7 >  Hm = {} 
)
static

Exponential map at the identity

Definition at line 267 of file Similarity3.cpp.

◆ GetV()

Matrix3 gtsam::Similarity3::GetV ( Vector3  w,
double  lambda 
)
staticprivate

Calculate expmap and logmap coefficients.

Definition at line 218 of file Similarity3.cpp.

◆ Identity()

Similarity3 gtsam::Similarity3::Identity ( )
static

Return an identity transform.

Definition at line 124 of file Similarity3.cpp.

◆ inverse()

Similarity3 gtsam::Similarity3::inverse ( ) const

Return the inverse.

Definition at line 131 of file Similarity3.cpp.

◆ Logmap()

Vector7 gtsam::Similarity3::Logmap ( const Similarity3 s,
OptionalJacobian< 7, 7 >  Hm = {} 
)
static

Log map at the identity $ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] $

Definition at line 254 of file Similarity3.cpp.

◆ matrix()

Matrix4 gtsam::Similarity3::matrix ( ) const

Calculate 4*4 matrix group equivalent.

Definition at line 284 of file Similarity3.cpp.

◆ operator*() [1/2]

Similarity3 gtsam::Similarity3::operator* ( const Similarity3 S) const

Composition.

Definition at line 127 of file Similarity3.cpp.

◆ operator*() [2/2]

Point3 gtsam::Similarity3::operator* ( const Point3 p) const

syntactic sugar for transformFrom

Definition at line 157 of file Similarity3.cpp.

◆ operator==()

bool gtsam::Similarity3::operator== ( const Similarity3 other) const

Exact equality.

Definition at line 113 of file Similarity3.cpp.

◆ print()

void gtsam::Similarity3::print ( const std::string &  s) const

Print with optional string.

Definition at line 117 of file Similarity3.cpp.

◆ rotation()

Rot3 gtsam::Similarity3::rotation ( ) const
inline

Return a GTSAM rotation.

Definition at line 185 of file Similarity3.h.

◆ scale()

double gtsam::Similarity3::scale ( ) const
inline

Return the scale.

Definition at line 191 of file Similarity3.h.

◆ transformFrom() [1/2]

Point3 gtsam::Similarity3::transformFrom ( const Point3 p,
OptionalJacobian< 3, 7 >  H1 = {},
OptionalJacobian< 3, 3 >  H2 = {} 
) const

Action on a point p is s*(R*p+t)

Definition at line 137 of file Similarity3.cpp.

◆ transformFrom() [2/2]

Pose3 gtsam::Similarity3::transformFrom ( const Pose3 T) const

Action on a pose T. |Rs ts| |R t| |Rs*R Rs*t+ts| |0 1/s| * |0 1| = | 0 1/s |, the result is still a Sim3 object. To retrieve a Pose3, we normalized the scale value into 1. |Rs*R Rs*t+ts| |Rs*R s(Rs*t+ts)| | 0 1/s | = | 0 1 |

This group action satisfies the compatibility condition. For more details, refer to: https://en.wikipedia.org/wiki/Group_action

Definition at line 151 of file Similarity3.cpp.

◆ translation()

Point3 gtsam::Similarity3::translation ( ) const
inline

Return a GTSAM translation.

Definition at line 188 of file Similarity3.h.

◆ wedge()

Matrix4 gtsam::Similarity3::wedge ( const Vector7 &  xi)
static

wedge for Similarity3:

Parameters
xi7-dim twist (w,u,lambda) where
Returns
4*4 element of Lie algebra that can be exponentiated TODO(frank): rename to Hat, make part of traits

Definition at line 196 of file Similarity3.cpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  os,
const Similarity3 p 
)
friend

Definition at line 278 of file Similarity3.cpp.

Member Data Documentation

◆ R_

Rot3 gtsam::Similarity3::R_
private

Definition at line 44 of file Similarity3.h.

◆ s_

double gtsam::Similarity3::s_
private

Definition at line 46 of file Similarity3.h.

◆ t_

Point3 gtsam::Similarity3::t_
private

Definition at line 45 of file Similarity3.h.


The documentation for this class was generated from the following files:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:09