#include <Similarity3.h>
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 Similarity3 & | derived () 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... | |
GTSAM_EXPORT friend 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 Pose3Pairs &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, N > | ChartJacobian |
typedef Eigen::Matrix< double, N, N > | Jacobian |
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... | |
3D similarity transform
Definition at line 36 of file Similarity3.h.
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private |
Definition at line 39 of file Similarity3.h.
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private |
Definition at line 40 of file Similarity3.h.
gtsam::Similarity3::Similarity3 | ( | ) |
Default constructor.
Definition at line 88 of file Similarity3.cpp.
gtsam::Similarity3::Similarity3 | ( | double | s | ) |
Construct pure scaling.
Definition at line 92 of file Similarity3.cpp.
Construct from GTSAM types.
Definition at line 96 of file Similarity3.cpp.
gtsam::Similarity3::Similarity3 | ( | const Matrix3 & | R, |
const Vector3 & | t, | ||
double | s | ||
) |
Construct from Eigen types.
Definition at line 100 of file Similarity3.cpp.
gtsam::Similarity3::Similarity3 | ( | const Matrix4 & | T | ) |
Construct from matrix [R t; 0 s^-1].
Definition at line 104 of file Similarity3.cpp.
Matrix7 gtsam::Similarity3::AdjointMap | ( | ) | const |
Project from one tangent space to another.
Definition at line 206 of file Similarity3.cpp.
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Create Similarity3 by aligning at least three point pairs
Definition at line 161 of file Similarity3.cpp.
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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.
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inlinestatic |
Dimensionality of tangent space = 7 DOF - used to autodetect sizes.
Definition at line 195 of file Similarity3.h.
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inline |
Dimensionality of tangent space = 7 DOF.
Definition at line 198 of file Similarity3.h.
bool gtsam::Similarity3::equals | ( | const Similarity3 & | sim, |
double | tol | ||
) | const |
Compare with tolerance.
Definition at line 108 of file Similarity3.cpp.
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Exponential map at the identity
Definition at line 267 of file Similarity3.cpp.
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staticprivate |
Calculate expmap and logmap coefficients.
Definition at line 218 of file Similarity3.cpp.
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Return an identity transform.
Definition at line 124 of file Similarity3.cpp.
Similarity3 gtsam::Similarity3::inverse | ( | ) | const |
Return the inverse.
Definition at line 131 of file Similarity3.cpp.
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Log map at the identity
Definition at line 254 of file Similarity3.cpp.
Matrix4 gtsam::Similarity3::matrix | ( | ) | const |
Calculate 4*4 matrix group equivalent.
Definition at line 284 of file Similarity3.cpp.
syntactic sugar for transformFrom
Definition at line 157 of file Similarity3.cpp.
Similarity3 gtsam::Similarity3::operator* | ( | const Similarity3 & | S | ) | const |
Composition.
Definition at line 127 of file Similarity3.cpp.
bool gtsam::Similarity3::operator== | ( | const Similarity3 & | other | ) | const |
Exact equality.
Definition at line 113 of file Similarity3.cpp.
void gtsam::Similarity3::print | ( | const std::string & | s = "" | ) | const |
Print with optional string.
Definition at line 117 of file Similarity3.cpp.
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Return a GTSAM rotation.
Definition at line 186 of file Similarity3.h.
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inline |
Return the scale.
Definition at line 192 of file Similarity3.h.
Point3 gtsam::Similarity3::transformFrom | ( | const Point3 & | p, |
OptionalJacobian< 3, 7 > | H1 = {} , |
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OptionalJacobian< 3, 3 > | H2 = {} |
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) | const |
Action on a point p is s*(R*p+t)
Definition at line 137 of file Similarity3.cpp.
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.
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Return a GTSAM translation.
Definition at line 189 of file Similarity3.h.
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wedge for Similarity3:
xi | 7-dim twist (w,u,lambda) where |
Definition at line 196 of file Similarity3.cpp.
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friend |
Definition at line 278 of file Similarity3.cpp.
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private |
Definition at line 44 of file Similarity3.h.
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Definition at line 46 of file Similarity3.h.
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Definition at line 45 of file Similarity3.h.