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Add planar trifocal tensor #1094

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Add planar trifocal tensor #1094

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18b4036
Finish 4.2a1
dellaert Jan 5, 2022
d6f3468
Merge pull request #1024 from borglab/release/4.2a2
dellaert Jan 10, 2022
76c7419
Merge pull request #1041 from borglab/release/4.2a3
dellaert Jan 17, 2022
d6edcea
Merge pull request #1073 from borglab/release/4.2a4
dellaert Jan 28, 2022
5dc5845
Merge branch 'master' of https://github.com/Hal-Zhaodong-Yang/gtsam i…
Hal-Zhaodong-Yang Feb 1, 2022
049e5d7
Planar Trifocal Tensor
Hal-Zhaodong-Yang Feb 1, 2022
3eda4cd
Merge branch 'develop' of github.com:Hal-Zhaodong-Yang/gtsam into tri…
akshay-krishnan Feb 4, 2022
a0b4dab
Add header file, API
akshay-krishnan Feb 4, 2022
e2e3e40
rename test file
akshay-krishnan Feb 4, 2022
719135c
add trifocal tensor class cpp file
Hal-Zhaodong-Yang Feb 5, 2022
b97fa7a
add transform
Hal-Zhaodong-Yang Feb 5, 2022
87bc39c
change constructor from const to non-const
Hal-Zhaodong-Yang Feb 5, 2022
92d60a0
fixed some bugs
Hal-Zhaodong-Yang Feb 5, 2022
e69490e
fixed some bugs
Hal-Zhaodong-Yang Feb 5, 2022
8aaebb4
Update implementations, builds now
akshay-krishnan Feb 5, 2022
df359c0
update test
akshay-krishnan Feb 5, 2022
b073fcb
fixed some bugs
Hal-Zhaodong-Yang Feb 5, 2022
f6d8cf5
Fixed the bugs and now the tests for trifocal tensor passed
Hal-Zhaodong-Yang Feb 6, 2022
98bdb49
Changed some format and added some comments
Hal-Zhaodong-Yang Feb 9, 2022
3d26c56
Changed some format and added some comments
Hal-Zhaodong-Yang Feb 9, 2022
2743031
Changed some comments
Hal-Zhaodong-Yang Feb 9, 2022
9eaaa0c
Changed some comments
Hal-Zhaodong-Yang Feb 9, 2022
0f0096d
update documentation, move accessor definitions to header
akshay-krishnan Feb 9, 2022
0df9836
throw invalid arg exception
akshay-krishnan Feb 9, 2022
a516b5f
remove debug print statements
akshay-krishnan Feb 9, 2022
62b4df4
remove debug statements in test
akshay-krishnan Feb 9, 2022
b5aade6
add file level comment in test
akshay-krishnan Feb 25, 2022
2bf85c5
create test data, update test doc
akshay-krishnan Feb 25, 2022
e2423e7
change measurement constructor to static method
akshay-krishnan Feb 26, 2022
5d2a3c2
add unit test for Jacobian of trifocal tensor
Hal-Zhaodong-Yang Feb 26, 2022
6cbde53
define constructor from matrices
akshay-krishnan Feb 26, 2022
2031ad1
Merge branch 'trifocal' of github.com:Hal-Zhaodong-Yang/gtsam into tr…
akshay-krishnan Feb 26, 2022
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fixed some bugs
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@Hal-Zhaodong-Yang
Hal-Zhaodong-Yang committed Feb 5, 2022
commit 92d60a0aafdea34155a836c31e9c95dc88ce8520
36 changes: 18 additions & 18 deletions gtsam/geometry/TrifocalTensor2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,16 +9,16 @@ TrifocalTensor2::TrifocalTensor2(const std::vector<Rot2>& bearings_u,
const std::vector<Rot2>& bearings_v,
const std::vector<Rot2>& bearings_w) {
int i = 0;
gtsam::Matrix(bearing_u.size(), 8) system_matrix;
for (int i = 0; i < bearing_u.size(); i++) {
system_matrix(i, 0) = bearings_u.c() * bearings_v.c() * bearings_w.c();
system_matrix(i, 1) = bearings_u.c() * bearings_v.c() * bearings_w.s();
system_matrix(i, 2) = bearings_u.c() * bearings_v.s() * bearings_w.c();
system_matrix(i, 3) = bearings_u.c() * bearings_v.s() * bearings_w.s();
system_matrix(i, 4) = bearings_u.s() * bearings_v.c() * bearings_w.c();
system_matrix(i, 5) = bearings_u.s() * bearings_v.c() * bearings_w.s();
system_matrix(i, 6) = bearings_u.s() * bearings_v.s() * bearings_w.c();
system_matrix(i, 7) = bearings_u.s() * bearings_v.s() * bearings_w.s();
Matrix system_matrix(bearings_u.size(), 8);
for (int i = 0; i < bearings_u.size(); i++) {
system_matrix(i, 0) = bearings_u[i].c() * bearings_v[i].c() * bearings_w[i].c();
system_matrix(i, 1) = bearings_u[i].c() * bearings_v[i].c() * bearings_w[i].s();
system_matrix(i, 2) = bearings_u[i].c() * bearings_v[i].s() * bearings_w[i].c();
system_matrix(i, 3) = bearings_u[i].c() * bearings_v[i].s() * bearings_w[i].s();
system_matrix(i, 4) = bearings_u[i].s() * bearings_v[i].c() * bearings_w[i].c();
system_matrix(i, 5) = bearings_u[i].s() * bearings_v[i].c() * bearings_w[i].s();
system_matrix(i, 6) = bearings_u[i].s() * bearings_v[i].s() * bearings_w[i].c();
system_matrix(i, 7) = bearings_u[i].s() * bearings_v[i].s() * bearings_w[i].s();
}

gtsam::Matrix U, S, V;
Expand All @@ -32,13 +32,13 @@ TrifocalTensor2::TrifocalTensor2(const std::vector<Rot2>& bearings_u,
}
}

Rot2 transform(const Rot2& vZp, const Rot2& wZp) const{
Rot2 uZp;
Vector2 v_measurement, w_measurement;
v_measurement << vZp.c(), vZp.s();
w_measurement << wZp.c(), wZp.s();
uZp = Rot2.atan(trans(v_measurement) * matrix0_ * w_measurement, - trans(v_measurement) * matrix1_ * w_measurement);
return uZp;

Rot2 transform(const Rot2& vZp, const Rot2& wZp) const {
Rot2 uZp;
Vector2 v_measurement, w_measurement;
v_measurement << vZp.c(), vZp.s();
w_measurement << wZp.c(), wZp.s();
uZp = Rot2.atan(trans(v_measurement) * matrix0_ * w_measurement,
-trans(v_measurement) * matrix1_ * w_measurement);
return uZp;
}
} // namespace gtsam