void EdgeProjectXYZ2UVQ::linearizeOplus()
{
VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
SE3Quat T(vj->estimate());
VertexSBAPointXYZ* vi = static_cast<VertexSBAPointXYZ*>(_vertices[0]);
Vector3d xyz = vi->estimate();
Vector3d xyz_trans = T.map(xyz);
const double & x = xyz_trans[0];
const double & y = xyz_trans[1];
const double & z = xyz_trans[2];
double z_sq = z*z;
const double & Fx = vj->_focal_length(0);
const double & Fy = vj->_focal_length(1);
double dq_dz = -Fx/z_sq;
double x_Fx_by_zsq = x*Fx/z_sq;
double y_Fy_by_zsq = y*Fy/z_sq;
Matrix3d R = T.rotation().toRotationMatrix();
_jacobianOplusXi.row(0) = -Fx/z*R.row(0) + x_Fx_by_zsq*R.row(2);
_jacobianOplusXi.row(1) = -Fy/z*R.row(1) + y_Fy_by_zsq*R.row(2);
_jacobianOplusXi.row(2) = -dq_dz*R.row(2);
_jacobianOplusXj(0,0) = x*y/z_sq *Fx;
_jacobianOplusXj(0,1) = -(1+(x*x/z_sq)) *Fx;
_jacobianOplusXj(0,2) = y/z *Fx;
_jacobianOplusXj(0,3) = -1./z *Fx;
_jacobianOplusXj(0,4) = 0;
_jacobianOplusXj(0,5) = x/z_sq *Fx;
_jacobianOplusXj(1,0) = (1+y*y/z_sq) *Fy;
_jacobianOplusXj(1,1) = -x*y/z_sq *Fy;
_jacobianOplusXj(1,2) = -x/z *Fy;
_jacobianOplusXj(1,3) = 0;
_jacobianOplusXj(1,4) = -1./z *Fy;
_jacobianOplusXj(1,5) = y/z_sq *Fy;
_jacobianOplusXj(2,0) = -y*dq_dz ;
_jacobianOplusXj(2,1) = x*dq_dz;
_jacobianOplusXj(2,2) = 0;
_jacobianOplusXj(2,3) = 0;
_jacobianOplusXj(2,4) = 0;
_jacobianOplusXj(2,5) = -dq_dz ;
// std::cerr << _jacobianOplusXi << std::endl;
// std::cerr << _jacobianOplusXj << std::endl;
// BaseBinaryEdge<3, Vector3d, VertexPointXYZ, VertexSE3Expmap, false>::linearizeOplus();
// std::cerr << _jacobianOplusXi << std::endl;
// std::cerr << _jacobianOplusXj << std::endl;
}
void EdgeProjectPSI2UV::linearizeOplus() {
VertexSBAPointXYZ* vpoint = static_cast<VertexSBAPointXYZ*>(_vertices[0]);
Vector3d psi_a = vpoint->estimate();
VertexSE3Expmap * vpose = static_cast<VertexSE3Expmap *>(_vertices[1]);
SE3Quat T_cw = vpose->estimate();
VertexSE3Expmap * vanchor = static_cast<VertexSE3Expmap *>(_vertices[2]);
const CameraParameters * cam
= static_cast<const CameraParameters *>(parameter(0));
SE3Quat A_aw = vanchor->estimate();
SE3Quat T_ca = T_cw*A_aw.inverse();
Vector3d x_a = invert_depth(psi_a);
Vector3d y = T_ca*x_a;
Matrix<double,2,3> Jcam
= d_proj_d_y(cam->focal_length,
y);
_jacobianOplus[0] = -Jcam*d_Tinvpsi_d_psi(T_ca, psi_a);
_jacobianOplus[1] = -Jcam*d_expy_d_y(y);
_jacobianOplus[2] = Jcam*T_ca.rotation().toRotationMatrix()*d_expy_d_y(x_a);
}
void EdgeProjectXYZ2UV::linearizeOplus()
{
VertexSE3Expmap * vj = static_cast<VertexSE3Expmap *>(_vertices[1]);
SE3Quat T(vj->estimate());
VertexSBAPointXYZ* vi = static_cast<VertexSBAPointXYZ*>(_vertices[0]);
Vector3d xyz = vi->estimate();
Vector3d xyz_trans = T.map(xyz);
double x = xyz_trans[0];
double y = xyz_trans[1];
double z = xyz_trans[2];
double z_2 = z*z;
Matrix<double,2,3> tmp;
tmp(0,0) = vj->_focal_length(0);
tmp(0,1) = 0;
tmp(0,2) = -x/z*vj->_focal_length(0);
tmp(1,0) = 0;
tmp(1,1) = vj->_focal_length(1);
tmp(1,2) = -y/z*vj->_focal_length(1);
_jacobianOplusXi = -1./z * tmp * T.rotation().toRotationMatrix();
_jacobianOplusXj(0,0) = x*y/z_2 *vj->_focal_length(0);
_jacobianOplusXj(0,1) = -(1+(x*x/z_2)) *vj->_focal_length(0);
_jacobianOplusXj(0,2) = y/z *vj->_focal_length(0);
_jacobianOplusXj(0,3) = -1./z *vj->_focal_length(0);
_jacobianOplusXj(0,4) = 0;
_jacobianOplusXj(0,5) = x/z_2 *vj->_focal_length(0);
_jacobianOplusXj(1,0) = (1+y*y/z_2) *vj->_focal_length(1);
_jacobianOplusXj(1,1) = -x*y/z_2 *vj->_focal_length(1);
_jacobianOplusXj(1,2) = -x/z *vj->_focal_length(1);
_jacobianOplusXj(1,3) = 0;
_jacobianOplusXj(1,4) = -1./z *vj->_focal_length(1);
_jacobianOplusXj(1,5) = y/z_2 *vj->_focal_length(1);
}
/**
* \brief Jacobian for stereo projection
*/
void Edge_XYZ_VSC::linearizeOplus()
{
VertexSCam *vc = static_cast<VertexSCam *>(_vertices[1]);
VertexSBAPointXYZ *vp = static_cast<VertexSBAPointXYZ *>(_vertices[0]);
Vector4d pt, trans;
pt.head<3>() = vp->estimate();
pt(3) = 1.0;
trans.head<3>() = vc->estimate().translation();
trans(3) = 1.0;
// first get the world point in camera coords
Eigen::Matrix<double,3,1> pc = vc->w2n * pt;
// Jacobians wrt camera parameters
// set d(quat-x) values [ pz*dpx/dx - px*dpz/dx ] / pz^2
double px = pc(0);
double py = pc(1);
double pz = pc(2);
double ipz2 = 1.0/(pz*pz);
if (isnan(ipz2) )
{
std::cout << "[SetJac] infinite jac" << std::endl;
*(int *)0x0 = 0;
}
double ipz2fx = ipz2*vc->Kcam(0,0); // Fx
double ipz2fy = ipz2*vc->Kcam(1,1); // Fy
double b = vc->baseline; // stereo baseline
Eigen::Matrix<double,3,1> pwt;
// check for local vars
pwt = (pt-trans).head<3>(); // transform translations, use differential rotation
// dx
Eigen::Matrix<double,3,1> dp = vc->dRdx * pwt; // dR'/dq * [pw - t]
_jacobianOplusXj(0,3) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXj(1,3) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXj(2,3) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
// dy
dp = vc->dRdy * pwt; // dR'/dq * [pw - t]
_jacobianOplusXj(0,4) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXj(1,4) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXj(2,4) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
// dz
dp = vc->dRdz * pwt; // dR'/dq * [pw - t]
_jacobianOplusXj(0,5) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXj(1,5) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXj(2,5) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
// set d(t) values [ pz*dpx/dx - px*dpz/dx ] / pz^2
dp = -vc->w2n.col(0); // dpc / dx
_jacobianOplusXj(0,0) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXj(1,0) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXj(2,0) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
dp = -vc->w2n.col(1); // dpc / dy
_jacobianOplusXj(0,1) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXj(1,1) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXj(2,1) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
dp = -vc->w2n.col(2); // dpc / dz
_jacobianOplusXj(0,2) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXj(1,2) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXj(2,2) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
// Jacobians wrt point parameters
// set d(t) values [ pz*dpx/dx - px*dpz/dx ] / pz^2
dp = vc->w2n.col(0); // dpc / dx
_jacobianOplusXi(0,0) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXi(1,0) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXi(2,0) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
dp = vc->w2n.col(1); // dpc / dy
_jacobianOplusXi(0,1) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXi(1,1) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXi(2,1) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
dp = vc->w2n.col(2); // dpc / dz
_jacobianOplusXi(0,2) = (pz*dp(0) - px*dp(2))*ipz2fx;
_jacobianOplusXi(1,2) = (pz*dp(1) - py*dp(2))*ipz2fy;
_jacobianOplusXi(2,2) = (pz*dp(0) - (px-b)*dp(2))*ipz2fx; // right image px
}
int main(int argc, char** argv)
{
string inputFilename;
string outputFilename;
// command line parsing
CommandArgs commandLineArguments;
commandLineArguments.paramLeftOver("gm2dl-input", inputFilename, "", "gm2dl file which will be processed");
commandLineArguments.paramLeftOver("gm2dl-output", outputFilename, "", "name of the output file");
commandLineArguments.parseArgs(argc, argv);
OptimizableGraph inputGraph;
bool loadStatus = inputGraph.load(inputFilename.c_str());
if (! loadStatus) {
cerr << "Error while loading input data" << endl;
return 1;
}
OptimizableGraph outputGraph;
// process all the vertices first
double fx = -1;
double baseline = -1;
bool firstCam = true;
for (OptimizableGraph::VertexIDMap::const_iterator it = inputGraph.vertices().begin(); it != inputGraph.vertices().end(); ++it) {
if (dynamic_cast<VertexCam*>(it->second)) {
VertexCam* v = static_cast<VertexCam*>(it->second);
if (firstCam) {
firstCam = false;
g2o::ParameterCamera* camParams = new g2o::ParameterCamera;
camParams->setId(0);
const SBACam& c = v->estimate();
baseline = c.baseline;
fx = c.Kcam(0,0);
camParams->setKcam(c.Kcam(0,0), c.Kcam(1,1), c.Kcam(0,2), c.Kcam(1,2));
outputGraph.addParameter(camParams);
}
VertexSE3* ov = new VertexSE3;
ov->setId(v->id());
Eigen::Isometry3d p;
p = v->estimate().rotation();
p.translation() = v->estimate().translation();
ov->setEstimate(p);
if (! outputGraph.addVertex(ov)) {
assert(0 && "Failure adding camera vertex");
}
}
else if (dynamic_cast<VertexSBAPointXYZ*>(it->second)) {
VertexSBAPointXYZ* v = static_cast<VertexSBAPointXYZ*>(it->second);
VertexPointXYZ* ov = new VertexPointXYZ;
ov->setId(v->id());
ov->setEstimate(v->estimate());
if (! outputGraph.addVertex(ov)) {
assert(0 && "Failure adding camera vertex");
}
}
}
for (OptimizableGraph::EdgeSet::const_iterator it = inputGraph.edges().begin(); it != inputGraph.edges().end(); ++it) {
if (dynamic_cast<EdgeProjectP2SC*>(*it)) {
EdgeProjectP2SC* e = static_cast<EdgeProjectP2SC*>(*it);
EdgeSE3PointXYZDisparity* oe = new EdgeSE3PointXYZDisparity;
oe->vertices()[0] = outputGraph.vertex(e->vertices()[1]->id());
oe->vertices()[1] = outputGraph.vertex(e->vertices()[0]->id());
double kx = e->measurement().x();
double ky = e->measurement().y();
double disparity = kx - e->measurement()(2);
oe->setMeasurement(Eigen::Vector3d(kx, ky, disparity / (fx * baseline)));
oe->setInformation(e->information()); // TODO convert information matrix
oe->setParameterId(0,0);
if (! outputGraph.addEdge(oe)) {
assert(0 && "error adding edge");
}
}
}
cout << "Vertices in/out:\t" << inputGraph.vertices().size() << " " << outputGraph.vertices().size() << endl;
cout << "Edges in/out:\t" << inputGraph.edges().size() << " " << outputGraph.edges().size() << endl;
cout << "Writing output ... " << flush;
outputGraph.save(outputFilename.c_str());
cout << "done." << endl;
return 0;
}
