Pose3 improvements #1148
Merged
Pose3 improvements #1148
Conversation
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
Member
dellaert
commented
Mar 26, 2022
dellaert
commented
- add Matrix versions of transformTo/From
- Align, matrix version
- expose Align in wrapper
|
Used Eigen broadcasting: https://eigen.tuxfamily.org/dox/group__TutorialReductionsVisitorsBroadcasting.html#title7 |
jerredchen
approved these changes
Mar 26, 2022
varunagrawal
approved these changes
Mar 26, 2022
| @@ -354,6 +354,14 @@ Point3 Pose3::transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself, | |||
| return R_ * point + t_; | |||
| } | |||
|
|
|||
| Matrix Pose3::transformFrom(const Matrix& points) const { | |||
| if (points.rows() != 3) { | |||
| throw std::invalid_argument("Pose3:transformFrom expects 3*N matrix."); | |||
There was a problem hiding this comment.
Thanks for the PR, Frank. I personally would find it more intuitive to have (N,3) as input, rather than (3,N).
There was a problem hiding this comment.
I respect that, and realize many will feel that way as it's the numpy way. I don't understand why. Points are column vectors in all texts I know of, and replicating columns is much more natural, e.g., to multiply with matrices as the code above shows. It is also used the convention elsewhere in GTSAM (unless it slipped in somewhere, in which case I'd like to deprecate it).
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.