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Fixing some errors preventing me from compiling #25

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Fixing some errors preventing me from compiling #25

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13613a6
Fixing link errors & deprecation warnings
Drahflow Jun 6, 2017
b2a0fd0
SE3 is now called SE3d
Drahflow Jun 6, 2017
2b69aa5
Remove context-depndency of typing
Drahflow Jun 10, 2017
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4 changes: 2 additions & 2 deletions vikit_common/include/vikit/homography.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ struct HomographyDecomposition
Vector3d n;

// Resolved Composition
Sophus::SE3 T; //!< second from first
Sophus::SE3d T; //!< second from first
int score;
};

Expand Down Expand Up @@ -72,7 +72,7 @@ class Homography
const vector<Vector2d, aligned_allocator<Vector2d> >& fts_c1; //!< Features on first image on unit plane
const vector<Vector2d, aligned_allocator<Vector2d> >& fts_c2; //!< Features on second image on unit plane
vector<bool> inliers;
SE3 T_c2_from_c1; //!< Relative translation and rotation of two images
SE3d T_c2_from_c1; //!< Relative translation and rotation of two images
Matrix3d H_c2_from_c1; //!< Homography
vector<HomographyDecomposition> decompositions;
};
Expand Down
14 changes: 7 additions & 7 deletions vikit_common/include/vikit/img_align.h
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Expand Up @@ -28,7 +28,7 @@ using namespace vk;
using namespace Sophus;

//! Forward Compositional Image Alignment
class ForwardCompositionalSE3 : public NLLSSolver<6, SE3> {
class ForwardCompositionalSE3 : public NLLSSolver<6, SE3d> {

protected:
vector<vk::PinholeCamera>& cam_pyr_;
Expand All @@ -45,7 +45,7 @@ class ForwardCompositionalSE3 : public NLLSSolver<6, SE3> {
double res_thresh_;

virtual double
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale = false);
computeResiduals (const SE3d& model, bool linearize_system, bool compute_weight_scale = false);

virtual int
solve();
Expand All @@ -68,7 +68,7 @@ class ForwardCompositionalSE3 : public NLLSSolver<6, SE3> {
vector<cv::Mat>& tpl_pyr,
vector<cv::Mat>& img_pyr_dx,
vector<cv::Mat>& img_pyr_dy,
SE3& init_model,
SE3d& init_model,
int n_levels,
int n_iter = 50,
float res_thresh = 0.2,
Expand All @@ -90,13 +90,13 @@ class ForwardCompositionalSE3 : public NLLSSolver<6, SE3> {
int test_id = 0);

void
runOptimization(SE3& model, int levelBegin = -1, int levelEnd = -1);
runOptimization(SE3d& model, int levelBegin = -1, int levelEnd = -1);

};


//! Efficient Second Order Minimization (ESM)
class SecondOrderMinimisationSE3 : public NLLSSolver<6, SE3> {
class SecondOrderMinimisationSE3 : public NLLSSolver<6, SE3d> {

protected:
vector<vk::PinholeCamera>& cam_pyr_;
Expand All @@ -114,7 +114,7 @@ class SecondOrderMinimisationSE3 : public NLLSSolver<6, SE3> {
float res_thresh_;

virtual double
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale = false);
computeResiduals (const SE3d& model, bool linearize_system, bool compute_weight_scale = false);

virtual int
solve();
Expand All @@ -139,7 +139,7 @@ class SecondOrderMinimisationSE3 : public NLLSSolver<6, SE3> {
vector<cv::Mat>& img_pyr_dy,
vector<cv::Mat>& tpl_pyr_dx,
vector<cv::Mat>& tpl_pyr_dy,
SE3& init_model,
SE3d& init_model,
int n_levels,
int n_iter = 50,
float res_thresh = 0.2,
Expand Down
11 changes: 6 additions & 5 deletions vikit_common/include/vikit/math_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
#define MATH_UTILS_H_


#include <Eigen/LU>
#include <Eigen/Core>
#include <Eigen/StdVector>
#include <sophus/se3.h>
Expand Down Expand Up @@ -42,19 +43,19 @@ double reprojError(
double error_multiplier2);

double computeInliers(
const vector<Vector3d>& features1,
const vector<Vector3d>& features2,
const vector<Vector3d, aligned_allocator<Vector3d> >& features1,
const vector<Vector3d, aligned_allocator<Vector3d> >& features2,
const Matrix3d& R,
const Vector3d& t,
const double reproj_thresh,
double error_multiplier2,
vector<Vector3d>& xyz_vec,
vector<Vector3d, aligned_allocator<Vector3d> >& xyz_vec,
vector<int>& inliers,
vector<int>& outliers);

void computeInliersOneView(
const vector<Vector3d> & feature_sphere_vec,
const vector<Vector3d> & xyz_vec,
const vector<Vector3d, aligned_allocator<Vector3d> > & feature_sphere_vec,
const vector<Vector3d, aligned_allocator<Vector3d> > & xyz_vec,
const Matrix3d &R,
const Vector3d &t,
const double reproj_thresh,
Expand Down
8 changes: 4 additions & 4 deletions vikit_common/src/homography.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ void Homography::
calcFromPlaneParams(const Vector3d& n_c1, const Vector3d& xyz_c1)
{
double d = n_c1.dot(xyz_c1); // normal distance from plane to KF
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
H_c2_from_c1 = T_c2_from_c1.rotationMatrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
}

void Homography::
Expand Down Expand Up @@ -195,7 +195,7 @@ decompose()
{
Matrix3d R = s * U * decompositions[i].R * V.transpose();
Vector3d t = U * decompositions[i].t;
decompositions[i].T = Sophus::SE3(R, t);
decompositions[i].T = Sophus::SE3d(R, t);
}
return true;
}
Expand Down Expand Up @@ -259,8 +259,8 @@ findBestDecomposition()
double adSampsonusScores[2];
for(size_t i=0; i<2; i++)
{
Sophus::SE3 T = decompositions[i].T;
Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());
Sophus::SE3d T = decompositions[i].T;
Matrix3d Essential = T.rotationMatrix() * sqew(T.translation());
double dSumError = 0;
for(size_t m=0; m < fts_c1.size(); m++ )
{
Expand Down
14 changes: 7 additions & 7 deletions vikit_common/src/img_align.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ ForwardCompositionalSE3( vector<PinholeCamera>& cam_pyr,
vector<cv::Mat>& tpl_pyr,
vector<cv::Mat>& img_pyr_dx,
vector<cv::Mat>& img_pyr_dy,
SE3& init_model,
SE3d& init_model,
int n_levels,
int n_iter,
float res_thresh,
Expand Down Expand Up @@ -115,7 +115,7 @@ ForwardCompositionalSE3( vector<PinholeCamera>& cam_pyr,
}

void ForwardCompositionalSE3::
runOptimization(SE3& model, int levelBegin, int levelEnd)
runOptimization(SE3d& model, int levelBegin, int levelEnd)
{
if(levelBegin < 0 || levelBegin > n_levels_-1)
levelBegin = n_levels_-1;
Expand All @@ -133,7 +133,7 @@ runOptimization(SE3& model, int levelBegin, int levelEnd)
}

double ForwardCompositionalSE3::
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale)
computeResiduals (const SE3d& model, bool linearize_system, bool compute_weight_scale)
{
// Warp the image such that it aligns with the template image
double chi2 = 0;
Expand Down Expand Up @@ -206,7 +206,7 @@ solve()
void ForwardCompositionalSE3::
update(const ModelType& old_model, ModelType& new_model)
{
new_model = SE3::exp(x_)*(old_model);
new_model = SE3d::exp(x_)*(old_model);
}

void ForwardCompositionalSE3::
Expand Down Expand Up @@ -252,7 +252,7 @@ SecondOrderMinimisationSE3( vector<PinholeCamera>& cam_pyr,
vector<cv::Mat>& img_pyr_dy,
vector<cv::Mat>& tpl_pyr_dx,
vector<cv::Mat>& tpl_pyr_dy,
SE3& init_model,
SE3d& init_model,
int n_levels,
int n_iter,
float res_thresh,
Expand Down Expand Up @@ -306,7 +306,7 @@ SecondOrderMinimisationSE3( vector<PinholeCamera>& cam_pyr,
}

double SecondOrderMinimisationSE3::
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale)
computeResiduals (const SE3d& model, bool linearize_system, bool compute_weight_scale)
{
// Warp the image such that it aligns with the template image
double chi2 = 0;
Expand Down Expand Up @@ -406,7 +406,7 @@ solve()
void SecondOrderMinimisationSE3::
update(const ModelType& old_model, ModelType& new_model)
{
new_model = SE3::exp(x_)*old_model;
new_model = SE3d::exp(x_)*old_model;
}

void SecondOrderMinimisationSE3::
Expand Down
10 changes: 5 additions & 5 deletions vikit_common/src/math_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,13 +63,13 @@ reprojError(const Vector3d& f1,
}

double
computeInliers(const vector<Vector3d>& features1, // c1
const vector<Vector3d>& features2, // c2
computeInliers(const vector<Vector3d, aligned_allocator<Vector3d> >& features1, // c1
const vector<Vector3d, aligned_allocator<Vector3d> >& features2, // c2
const Matrix3d& R, // R_c1_c2
const Vector3d& t, // c1_t
const double reproj_thresh,
double error_multiplier2,
vector<Vector3d>& xyz_vec, // in frame c1
vector<Vector3d, aligned_allocator<Vector3d> >& xyz_vec, // in frame c1
vector<int>& inliers,
vector<int>& outliers)
{
Expand All @@ -95,8 +95,8 @@ computeInliers(const vector<Vector3d>& features1, // c1
}

void
computeInliersOneView(const vector<Vector3d> & feature_sphere_vec,
const vector<Vector3d> & xyz_vec,
computeInliersOneView(const vector<Vector3d, aligned_allocator<Vector3d> > & feature_sphere_vec,
const vector<Vector3d, aligned_allocator<Vector3d> > & xyz_vec,
const Matrix3d &R,
const Vector3d &t,
const double reproj_thresh,
Expand Down