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Add line local parameterization.

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This CL adds a local parameterization for a n-dimensional
line, which is represented as an origin point and a direction.
The line direction is updated in the same way as a
homogeneous vector and the origin point is updated
perpendicular to the line direction.

Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624
This commit is contained in:
Johannes Beck
2019-12-28 13:29:19 +01:00
parent 2c1c0932e9
commit 6bde61d6be
7 changed files with 421 additions and 31 deletions
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include/ceres/local_parameterization.h
+29
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@@ -262,6 +262,33 @@ class CERES_EXPORT HomogeneousVectorParameterization
const int size_;
};
// This provides a parameterization for lines, where the line is
// over-parameterized by an origin point and a direction vector. So the
// parameter vector size needs to be two times the ambient space dimension,
// where the first half is interpreted as the origin point and the second half
// as the direction.
//
// The plus operator for the line direction is the same as for the
// HomogeneousVectorParameterization. The update of the origin point is
// perpendicular to the line direction before the update.
//
// This local parameterization is a special case of the affine Grassmannian
// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
// for the case Graff_1(R^n).
template <int AmbientSpaceDimension>
class CERES_EXPORT LineParameterization : public LocalParameterization {
public:
static_assert(AmbientSpaceDimension >= 2,
"The ambient space must be at least 2");
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
int GlobalSize() const override { return 2 * AmbientSpaceDimension; }
int LocalSize() const override { return 2 * (AmbientSpaceDimension - 1); }
};
// Construct a local parameterization by taking the Cartesian product
// of a number of other local parameterizations. This is useful, when
// a parameter block is the cartesian product of two or more
@@ -328,5 +355,7 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
} // namespace ceres
#include "ceres/internal/reenable_warnings.h"
#include "ceres/internal/line_parameterization.h"
#endif // CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_