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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file matlab.h
* @brief Contains *generic* global functions designed particularly for the matlab interface
* @author Stephen Williams
*/
#pragma once
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <exception>
namespace gtsam {
namespace utilities {
// Create a KeyList from indices
FastList<Key> createKeyList(const Vector& I) {
FastList<Key> set;
for (int i = 0; i < I.size(); i++)
set.push_back(I[i]);
return set;
}
// Create a KeyList from indices using symbol
FastList<Key> createKeyList(string s, const Vector& I) {
FastList<Key> set;
char c = s[0];
for (int i = 0; i < I.size(); i++)
set.push_back(Symbol(c, I[i]));
return set;
}
// Create a KeyVector from indices
FastVector<Key> createKeyVector(const Vector& I) {
FastVector<Key> set;
for (int i = 0; i < I.size(); i++)
set.push_back(I[i]);
return set;
}
// Create a KeyVector from indices using symbol
FastVector<Key> createKeyVector(string s, const Vector& I) {
FastVector<Key> set;
char c = s[0];
for (int i = 0; i < I.size(); i++)
set.push_back(Symbol(c, I[i]));
return set;
}
// Create a KeySet from indices
KeySet createKeySet(const Vector& I) {
KeySet set;
for (int i = 0; i < I.size(); i++)
set.insert(I[i]);
return set;
}
// Create a KeySet from indices using symbol
KeySet createKeySet(string s, const Vector& I) {
KeySet set;
char c = s[0];
for (int i = 0; i < I.size(); i++)
set.insert(symbol(c, I[i]));
return set;
}
/// Extract all Point2 values into a single matrix [x y]
Matrix extractPoint2(const Values& values) {
size_t j = 0;
Values::ConstFiltered<Point2> points = values.filter<Point2>();
Matrix result(points.size(), 2);
for(const auto& key_value: points)
result.row(j++) = key_value.value;
return result;
}
/// Extract all Point3 values into a single matrix [x y z]
Matrix extractPoint3(const Values& values) {
Values::ConstFiltered<Point3> points = values.filter<Point3>();
Matrix result(points.size(), 3);
size_t j = 0;
for(const auto& key_value: points)
result.row(j++) = key_value.value;
return result;
}
/// Extract all Pose2 values into a single matrix [x y theta]
Matrix extractPose2(const Values& values) {
Values::ConstFiltered<Pose2> poses = values.filter<Pose2>();
Matrix result(poses.size(), 3);
size_t j = 0;
for(const auto& key_value: poses)
result.row(j++) << key_value.value.x(), key_value.value.y(), key_value.value.theta();
return result;
}
/// Extract all Pose3 values
Values allPose3s(const Values& values) {
return values.filter<Pose3>();
}
/// Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z]
Matrix extractPose3(const Values& values) {
Values::ConstFiltered<Pose3> poses = values.filter<Pose3>();
Matrix result(poses.size(), 12);
size_t j = 0;
for(const auto& key_value: poses) {
result.row(j).segment(0, 3) << key_value.value.rotation().matrix().row(0);
result.row(j).segment(3, 3) << key_value.value.rotation().matrix().row(1);
result.row(j).segment(6, 3) << key_value.value.rotation().matrix().row(2);
result.row(j).tail(3) = key_value.value.translation();
j++;
}
return result;
}
/// Perturb all Point2 values using normally distributed noise
void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) {
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,
sigma);
Sampler sampler(model, seed);
for(const auto& key_value: values.filter<Point2>()) {
values.update<Point2>(key_value.key, key_value.value + Point2(sampler.sample()));
}
}
/// Perturb all Pose2 values using normally distributed noise
void perturbPose2(Values& values, double sigmaT, double sigmaR, int32_t seed =
42u) {
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(
Vector3(sigmaT, sigmaT, sigmaR));
Sampler sampler(model, seed);
for(const auto& key_value: values.filter<Pose2>()) {
values.update<Pose2>(key_value.key, key_value.value.retract(sampler.sample()));
}
}
/// Perturb all Point3 values using normally distributed noise
void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) {
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,
sigma);
Sampler sampler(model, seed);
for(const auto& key_value: values.filter<Point3>()) {
values.update<Point3>(key_value.key, key_value.value + Point3(sampler.sample()));
}
}
/// Insert a number of initial point values by backprojecting
void insertBackprojections(Values& values, const SimpleCamera& camera,
const Vector& J, const Matrix& Z, double depth) {
if (Z.rows() != 2)
throw std::invalid_argument("insertBackProjections: Z must be 2*K");
if (Z.cols() != J.size())
throw std::invalid_argument(
"insertBackProjections: J and Z must have same number of entries");
for (int k = 0; k < Z.cols(); k++) {
Point2 p(Z(0, k), Z(1, k));
Point3 P = camera.backproject(p, depth);
values.insert(J(k), P);
}
}
/// Insert multiple projection factors for a single pose key
void insertProjectionFactors(NonlinearFactorGraph& graph, Key i,
const Vector& J, const Matrix& Z, const SharedNoiseModel& model,
const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) {
if (Z.rows() != 2)
throw std::invalid_argument("addMeasurements: Z must be 2*K");
if (Z.cols() != J.size())
throw std::invalid_argument(
"addMeasurements: J and Z must have same number of entries");
for (int k = 0; k < Z.cols(); k++) {
graph.push_back(
boost::make_shared<GenericProjectionFactor<Pose3, Point3> >(
Point2(Z(0, k), Z(1, k)), model, i, Key(J(k)), K, body_P_sensor));
}
}
/// Calculate the errors of all projection factors in a graph
Matrix reprojectionErrors(const NonlinearFactorGraph& graph,
const Values& values) {
// first count
size_t K = 0, k = 0;
for(const NonlinearFactor::shared_ptr& f: graph)
if (boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
f))
++K;
// now fill
Matrix errors(2, K);
for(const NonlinearFactor::shared_ptr& f: graph) {
boost::shared_ptr<const GenericProjectionFactor<Pose3, Point3> > p =
boost::dynamic_pointer_cast<const GenericProjectionFactor<Pose3, Point3> >(
f);
if (p)
errors.col(k++) = p->unwhitenedError(values);
}
return errors;
}
/// Convert from local to world coordinates
Values localToWorld(const Values& local, const Pose2& base,
const FastVector<Key> user_keys = FastVector<Key>()) {
Values world;
// if no keys given, get all keys from local values
FastVector<Key> keys(user_keys);
if (keys.size()==0)
keys = local.keys();
// Loop over all keys
for(Key key: keys) {
try {
// if value is a Pose2, compose it with base pose
Pose2 pose = local.at<Pose2>(key);
world.insert(key, base.compose(pose));
} catch (std::exception e1) {
try {
// if value is a Point2, transform it from base pose
Point2 point = local.at<Point2>(key);
world.insert(key, base.transform_from(point));
} catch (std::exception e2) {
// if not Pose2 or Point2, do nothing
}
}
}
return world;
}
}
}

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