-
Notifications
You must be signed in to change notification settings - Fork 62
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'ign-math6' into LolaSegura/add_material-type_material
- Loading branch information
Showing
77 changed files
with
6,874 additions
and
93 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,161 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #ifndef IGNITION_MATH_EIGEN3_UTIL_HH_ | ||
| #define IGNITION_MATH_EIGEN3_UTIL_HH_ | ||
|
|
||
| #include <vector> | ||
|
|
||
| #include <Eigen/Geometry> | ||
| #include <Eigen/Eigenvalues> | ||
|
|
||
| #include <ignition/math/AxisAlignedBox.hh> | ||
| #include <ignition/math/Matrix3.hh> | ||
| #include <ignition/math/OrientedBox.hh> | ||
| #include <ignition/math/Pose3.hh> | ||
| #include <ignition/math/Quaternion.hh> | ||
| #include <ignition/math/Vector3.hh> | ||
| #include <ignition/math/eigen3/Conversions.hh> | ||
|
|
||
| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| namespace eigen3 | ||
| { | ||
| /// \brief Get covariance matrix from a set of 3d vertices | ||
| /// https://github.com/isl-org/Open3D/blob/76c2baf9debd460900f056a9b51e9a80de9c0e64/cpp/open3d/utility/Eigen.cpp#L305 | ||
| /// \param[in] _vertices a vector of 3d vertices | ||
| /// \return Covariance matrix | ||
| inline Eigen::Matrix3d covarianceMatrix( | ||
| const std::vector<math::Vector3d> &_vertices) | ||
| { | ||
| if (_vertices.empty()) | ||
| return Eigen::Matrix3d::Identity(); | ||
|
|
||
| Eigen::Matrix<double, 9, 1> cumulants; | ||
| cumulants.setZero(); | ||
| for (const auto &vertex : _vertices) | ||
| { | ||
| const Eigen::Vector3d &point = math::eigen3::convert(vertex); | ||
| cumulants(0) += point(0); | ||
| cumulants(1) += point(1); | ||
| cumulants(2) += point(2); | ||
| cumulants(3) += point(0) * point(0); | ||
| cumulants(4) += point(0) * point(1); | ||
| cumulants(5) += point(0) * point(2); | ||
| cumulants(6) += point(1) * point(1); | ||
| cumulants(7) += point(1) * point(2); | ||
| cumulants(8) += point(2) * point(2); | ||
| } | ||
|
|
||
| Eigen::Matrix3d covariance; | ||
|
|
||
| cumulants /= static_cast<double>(_vertices.size()); | ||
|
|
||
| covariance(0, 0) = cumulants(3) - cumulants(0) * cumulants(0); | ||
| covariance(1, 1) = cumulants(6) - cumulants(1) * cumulants(1); | ||
| covariance(2, 2) = cumulants(8) - cumulants(2) * cumulants(2); | ||
| covariance(0, 1) = cumulants(4) - cumulants(0) * cumulants(1); | ||
| covariance(1, 0) = covariance(0, 1); | ||
| covariance(0, 2) = cumulants(5) - cumulants(0) * cumulants(2); | ||
| covariance(2, 0) = covariance(0, 2); | ||
| covariance(1, 2) = cumulants(7) - cumulants(1) * cumulants(2); | ||
| covariance(2, 1) = covariance(1, 2); | ||
| return covariance; | ||
| } | ||
|
|
||
| /// \brief Get the oriented 3d bounding box of a set of 3d | ||
| /// vertices using PCA | ||
| /// http://codextechnicanum.blogspot.com/2015/04/find-minimum-oriented-bounding-box-of.html | ||
| /// \param[in] _vertices a vector of 3d vertices | ||
| /// \return Oriented 3D box | ||
| inline ignition::math::OrientedBoxd verticesToOrientedBox( | ||
| const std::vector<math::Vector3d> &_vertices) | ||
| { | ||
| math::OrientedBoxd box; | ||
|
|
||
| // Return an empty box if there are no vertices | ||
| if (_vertices.empty()) | ||
| return box; | ||
|
|
||
| math::Vector3d mean; | ||
| for (const auto &point : _vertices) | ||
| mean += point; | ||
| mean /= static_cast<double>(_vertices.size()); | ||
|
|
||
| Eigen::Vector3d centroid = math::eigen3::convert(mean); | ||
| Eigen::Matrix3d covariance = covarianceMatrix(_vertices); | ||
|
|
||
| // Eigen Vectors | ||
| Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> | ||
| eigenSolver(covariance, Eigen::ComputeEigenvectors); | ||
| Eigen::Matrix3d eigenVectorsPCA = eigenSolver.eigenvectors(); | ||
|
|
||
| // This line is necessary for proper orientation in some cases. | ||
| // The numbers come out the same without it, but the signs are | ||
| // different and the box doesn't get correctly oriented in some cases. | ||
| eigenVectorsPCA.col(2) = | ||
| eigenVectorsPCA.col(0).cross(eigenVectorsPCA.col(1)); | ||
|
|
||
| // Transform the original cloud to the origin where the principal | ||
| // components correspond to the axes. | ||
| Eigen::Matrix4d projectionTransform(Eigen::Matrix4d::Identity()); | ||
| projectionTransform.block<3, 3>(0, 0) = eigenVectorsPCA.transpose(); | ||
| projectionTransform.block<3, 1>(0, 3) = | ||
| -1.0f * (projectionTransform.block<3, 3>(0, 0) * centroid); | ||
|
|
||
| Eigen::Vector3d minPoint(INF_I32, INF_I32, INF_I32); | ||
| Eigen::Vector3d maxPoint(-INF_I32, -INF_I32, -INF_I32); | ||
|
|
||
| // Get the minimum and maximum points of the transformed cloud. | ||
| for (const auto &point : _vertices) | ||
| { | ||
| Eigen::Vector4d pt(0, 0, 0, 1); | ||
| pt.head<3>() = math::eigen3::convert(point); | ||
| Eigen::Vector4d tfPoint = projectionTransform * pt; | ||
| minPoint = minPoint.cwiseMin(tfPoint.head<3>()); | ||
| maxPoint = maxPoint.cwiseMax(tfPoint.head<3>()); | ||
| } | ||
|
|
||
| const Eigen::Vector3d meanDiagonal = 0.5f * (maxPoint + minPoint); | ||
|
|
||
| // quaternion is calculated using the eigenvectors (which determines | ||
| // how the final box gets rotated), and the transform to put the box | ||
| // in correct location is calculated | ||
| const Eigen::Quaterniond bboxQuaternion(eigenVectorsPCA); | ||
| const Eigen::Vector3d bboxTransform = | ||
| eigenVectorsPCA * meanDiagonal + centroid; | ||
|
|
||
| math::Vector3d size( | ||
| maxPoint.x() - minPoint.x(), | ||
| maxPoint.y() - minPoint.y(), | ||
| maxPoint.z() - minPoint.z() | ||
| ); | ||
| math::Pose3d pose; | ||
| pose.Rot() = math::eigen3::convert(bboxQuaternion); | ||
| pose.Pos() = math::eigen3::convert(bboxTransform); | ||
|
|
||
| box.Size(size); | ||
| box.Pose(pose); | ||
| return box; | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| #endif |
Oops, something went wrong.