/// <summary>
/// Base-class constructor. This should be called in the constructor of any
/// derived class.
/// </summary>
/// <param name="position_state_size">The number of dimensions in the position state</param>
/// <param name="state_size">The total state size</param>
/// <param name="control_size">The control state size</param>
/// <param name="m_m_d_t">A string representing the motion model dimensionality type </param>
/// <param name="m_m_t">A unique string representing this particular motion model type</param>
public Motion_Model(uint position_state_size,
uint state_size,
uint control_size,
String m_m_d_t, String m_m_t)
{
POSITION_STATE_SIZE = position_state_size;
STATE_SIZE = state_size;
CONTROL_SIZE = control_size;
motion_model_dimensionality_type = m_m_d_t;
motion_model_type = m_m_t;
fvRES = new Vector(STATE_SIZE);
xpRES = new Vector(POSITION_STATE_SIZE);
fv_noisyRES = new Vector(STATE_SIZE);
xvredefRES = new Vector(STATE_SIZE);
xvnormRES = new Vector(STATE_SIZE);
zeroedxvRES = new Vector(STATE_SIZE);
xpredefRES = new Vector(POSITION_STATE_SIZE);
dfv_by_dxvRES = new MatrixFixed(STATE_SIZE, STATE_SIZE);
QxRES = new MatrixFixed(STATE_SIZE, STATE_SIZE);
dxp_by_dxvRES = new MatrixFixed(POSITION_STATE_SIZE, STATE_SIZE);
dxvredef_by_dxvRES = new MatrixFixed(STATE_SIZE, STATE_SIZE);
dxvredef_by_dxpdefRES = new MatrixFixed(STATE_SIZE, POSITION_STATE_SIZE);
dxvnorm_by_dxvRES = new MatrixFixed(STATE_SIZE, STATE_SIZE);
dzeroedxv_by_dxvRES = new MatrixFixed(STATE_SIZE, STATE_SIZE);
dxpredef_by_dxpRES = new MatrixFixed(POSITION_STATE_SIZE, POSITION_STATE_SIZE);
dxpredef_by_dxpdefRES = new MatrixFixed(POSITION_STATE_SIZE, POSITION_STATE_SIZE);
}
private void init()
{
m_centre = new Vector(2);
m_C = new MatrixFixed(3, 3);
m_Cinv = new MatrixFixed(3, 3);
m_last_camera = new Vector(3);
m_last_image_centred = new Vector(2);
}
//friend class FeatureInitInfo;
//friend class Scene_Single;
/// <summary>
/// Constructor. This is protected since it is only called
/// from FeatureInitInfo::add_particle()
/// </summary>
/// <param name="l">The value(s) for the free parameters \lambda represented by this particle.</param>
/// <param name="p">The initial probability for this particle</param>
/// <param name="MEASUREMENT_SIZE">The number of parameters representing a measurement of a feature</param>
public Particle(Vector l, float p, uint MEASUREMENT_SIZE)
{
lambda = new Vector(l);
probability = p;
m_z = new Vector(MEASUREMENT_SIZE);
m_h = new Vector(MEASUREMENT_SIZE);
m_SInv = new MatrixFixed(MEASUREMENT_SIZE, MEASUREMENT_SIZE);
}
// Default NULL version
public virtual bool make_internal_measurement(Internal_Measurement_Model m,
Vector v,
Vector v2,
MatrixFixed mt)
{
Debug.WriteLine("WARNING: make_internal_measurement not implemented.");
return false;
}
public void successful_internal_measurement(Vector zv_in)
{
//assert(zv.Size() == internal_measurement_model.MEASUREMENT_SIZE);
zv.Update(zv_in);
//if (DEBUGDUMP) cout << "Internal measurement made : zv " << endl << zv << endl;
successful_internal_measurement_flag = true;
internal_measurement_model.func_nuv(hv, zv);
nuv.Update(internal_measurement_model.get_nuvRES());
}
/// <summary>
/// Simple overall prediction
/// </summary>
/// <param name="scene"></param>
/// <param name="u"></param>
/// <param name="delta_t"></param>
public void predict_filter_slow (Scene_Single scene, Vector u, float delta_t)
{
Debug.WriteLine("*** SLOW PREDICTION ***");
// What we need to do for the prediction:
// Calculate f and grad_f_x
// Calculate Q
// Form x(k+1|k) and P(k+1|k)
int size = (int)scene.get_total_state_size();
// First form original total state and covariance
Vector x = new Vector(size);
MatrixFixed P = new MatrixFixed(size, size);
scene.construct_total_state_and_covariance(ref x, ref P);
// Make model calculations: store results in RES matrices
Vector xv = scene.get_xv();
//Vector xv = new Vector(scene.get_xv());
scene.get_motion_model().func_fv_and_dfv_by_dxv(xv, u, delta_t);
scene.get_motion_model().func_Q(scene.get_xv(), u, delta_t);
// Find new state f
Vector f = new Vector(size);
// Feature elements of f are the same as x
f.Update(x);
f.Update(scene.get_motion_model().get_fvRES(), 0);
// Find new P
// Since most elements of df_by_dx are zero...
MatrixFixed df_by_dx = new MatrixFixed(size, size);
df_by_dx.Fill(0.0f);
// Fill the rest of the elements of df_by_dx: 1 on diagonal for features
for (int i = (int)scene.get_motion_model().STATE_SIZE; i < df_by_dx.Rows; i++)
df_by_dx[i,i] = 1.0f;
df_by_dx.Update(scene.get_motion_model().get_dfv_by_dxvRES(), 0, 0);
// Calculate the process noise
MatrixFixed Q = new MatrixFixed(size, size);
Q.Fill(0.0f);
Q.Update(scene.get_motion_model().get_QxRES(), 0, 0);
P.Update(df_by_dx * P * df_by_dx.Transpose());
P += Q;
scene.fill_state_and_covariance(f, P);
}
//friend class Scene_Single;
//friend class Kalman;
public Internal_Measurement(Internal_Measurement_Model i_m_m)
{
internal_measurement_model = i_m_m;
hv = new Vector(internal_measurement_model.MEASUREMENT_SIZE);
zv = new Vector(internal_measurement_model.MEASUREMENT_SIZE);
nuv = new Vector(internal_measurement_model.MEASUREMENT_SIZE);
dhv_by_dxv = new MatrixFixed(internal_measurement_model.MEASUREMENT_SIZE, internal_measurement_model.get_motion_model().STATE_SIZE);
Rv = new MatrixFixed(internal_measurement_model.MEASUREMENT_SIZE, internal_measurement_model.MEASUREMENT_SIZE);
Sv = new MatrixFixed(internal_measurement_model.MEASUREMENT_SIZE, internal_measurement_model.MEASUREMENT_SIZE);
// if (DEBUGDUMP) cout << "Adding Internal Measurement type "
// << internal_measurement_model.internal_type << endl;
}
public void predict_internal_measurement(Vector xv, MatrixFixed Pxx)
{
internal_measurement_model.func_hv_and_dhv_by_dxv(xv);
hv.Update(internal_measurement_model.get_hvRES());
dhv_by_dxv.Update(internal_measurement_model.get_dhv_by_dxvRES());
internal_measurement_model.func_Rv(hv);
Rv.Update(internal_measurement_model.get_RvRES());
internal_measurement_model.func_Sv(Pxx, dhv_by_dxv, Rv);
Sv.Update(internal_measurement_model.get_SvRES());
//if (DEBUGDUMP) cout << "Internal measurement prediction: hv " << endl
//<< hv << endl;
}
public SearchDatum(MatrixFixed _PuInv, Vector _search_centre)
{
PuInv = _PuInv;
search_centre = _search_centre;
result_flag = false;
result_u = 0;
result_v = 0;
halfwidth = (uint)(SceneLib.NO_SIGMA /
Math.Sqrt(PuInv[0, 0] - PuInv[0, 1] * PuInv[0, 1] / PuInv[1, 1]));
halfheight = (uint)(SceneLib.NO_SIGMA /
Math.Sqrt(PuInv[1, 1] - PuInv[0, 1] * PuInv[0, 1] / PuInv[0, 0]));
if (halfwidth > 10) halfwidth = 10;
if (halfheight > 10) halfheight = 10;
}
public linefeature(Feature feature1, Feature feature2, int no_of_points, int history)
{
marked_for_deletion = false;
curr_index = 0;
hits = 0;
this.feature1 = feature1;
this.feature2 = feature2;
this.no_of_points = no_of_points;
this.history = history;
pixel_intensity = new Byte[no_of_points, history];
feature_position = new Vector[history, 2];
for (int i = 0; i < history; i++)
{
feature_position[i, 0] = new Vector(3);
feature_position[i, 1] = new Vector(3);
}
}
public unsafe QR(MatrixFixed M)
{
qrdc_out_ = new MatrixFixed(M.Columns, M.Rows);
qraux_ = new Vector(M.Columns);
jpvt_ = new int[M.Rows];
Q_ = null;
R_ = null;
// Fill transposed O/P matrix
int c = M.Columns;
int r = M.Rows;
for (int i = 0; i < r; ++i)
for (int j = 0; j < c; ++j)
qrdc_out_[j,i] = M[i,j];
int do_pivot = 0; // Enable[!=0]/disable[==0] pivoting.
for (int i = 0; i < jpvt_.Length; i++) jpvt_[i] = 0;
Vector work = new Vector(M.Rows);
fixed (float* data = qrdc_out_.Datablock())
{
fixed (float* data2 = qraux_.Datablock())
{
fixed (int* data3 = jpvt_)
{
fixed (float* data4 = work.Datablock())
{
Netlib.dqrdc_(data, // On output, UT is R, below diag is mangled Q
&r, &r, &c,
data2, // Further information required to demangle Q
data3,
data4,
&do_pivot);
}
}
}
}
}
public override void func_nui(Vector hi, Vector zi)
{
nuiRES.Update(zi - hi);
}
public override void func_hi_noisy(Vector yi_true, Vector xp_true)
{
func_hi_and_dhi_by_dxp_and_dhi_by_dyi(yi_true, xp_true);
hi_noisyRES.Put(0, SceneLib.SampleNormal(hiRES[0], ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).SD_IMAGE_SIMULATION, rnd));
hi_noisyRES.Put(1, SceneLib.SampleNormal(hiRES[1], ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).SD_IMAGE_SIMULATION, rnd));
}
/// <summary>
///
/// </summary>
/// <param name="xp">current robot position state</param>
/// <param name="yi">3D position of the feature</param>
/// <param name="xp_orig">robot position state when the feature was initially observed</param>
/// <param name="hi">image coordinates of the feature</param>
/// <returns></returns>
public override uint visibility_test(Vector xp, Vector yi, Vector xp_orig, Vector hi)
{
float image_search_boundary = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).IMAGE_SEARCH_BOUNDARY;
uint wdth = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.ImageWidth();
uint hght = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.ImageHeight();
uint cant_see_flag = 0;
// Test image boundaries
float x = hi[0];
float y = hi[1];
if ((x < 0.0f + image_search_boundary) ||
(x > (float)(wdth - 1 - image_search_boundary)))
{
cant_see_flag |= Wide_Camera_Point_Feature_Measurement_Model.LEFT_RIGHT_FAIL;
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("Visibility test left / right fail.");
}
if ((y < 0.0f + image_search_boundary) ||
(y > (float)(hght - 1 - image_search_boundary)))
{
cant_see_flag |= Wide_Camera_Point_Feature_Measurement_Model.UP_DOWN_FAIL;
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("Visibility test up / down fail.");
}
// Do tests on length and angle of predicted view
// hLWi is current predicted vector from head to feature in
// world frame
// This function gives relative position of feature
func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(yi, xp);
// Test the feature's not behind the camera (because projection
// may do strange things)
if (zeroedyiRES[2] <= 0)
{
cant_see_flag |= Wide_Camera_Point_Feature_Measurement_Model.BEHIND_CAMERA_FAIL;
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("Behind camera fail.");
}
((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.func_q(xp);
RotationMatrix RWR = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_qRES().RotationMatrix();
Vector3D hLWi = new Vector3D(RWR * (new Point3D(zeroedyiRES)));
// hLWi_orig is vector from head to feature in world frame
// WHEN THAT FEATURE WAS FIRST MEASURED: i.e. when the image
// patch was saved
func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(yi, xp_orig);
((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.func_q(xp_orig);
RotationMatrix RWR_orig = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_qRES().RotationMatrix();
Vector3D hLWi_orig = new Vector3D(RWR_orig * (new Point3D(zeroedyiRES)));
// Compare hLWi and hLWi_orig for length and orientation
float mod_hLWi = hLWi.Norm();
float mod_hLWi_orig = hLWi_orig.Norm();
float length_ratio = mod_hLWi / mod_hLWi_orig;
float max_length_ratio = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).MAXIMUM_LENGTH_RATIO;
if ((length_ratio > max_length_ratio) ||
(length_ratio < (1.0f / max_length_ratio)))
{
cant_see_flag |= Wide_Camera_Point_Feature_Measurement_Model.DISTANCE_FAIL;
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("Distance fail.");
}
float dot_prod = hLWi * hLWi_orig;
float angle = (float)Math.Acos(dot_prod / (mod_hLWi * mod_hLWi_orig));
if (angle == float.NaN) Debug.WriteLine("Maths error: " + dot_prod + " / " + (mod_hLWi * mod_hLWi_orig));
angle = (angle >= 0.0f ? angle : -angle); // Make angle positive
if (angle > ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).MAXIMUM_ANGLE_DIFFERENCE)
{
cant_see_flag |= Wide_Camera_Point_Feature_Measurement_Model.ANGLE_FAIL;
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("Angle fail.");
}
return cant_see_flag; // 0 if OK, otherwise error code
}
public override void func_hi_and_dhi_by_dxp_and_dhi_by_dyi(Vector yi, Vector xp)
{
// This function gives relative position of feature: also call this hR
// (vector from camera to feature in robot frame)
func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(yi, xp);
// Project this from 3D into the 2D image using our camera
Vector feature_3D_position = get_zeroedyiRES();
WideCamera cam = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera;
hiRES = cam.Project(feature_3D_position);
// And ask the camera what the Jacobian of this projection was
MatrixFixed dhid_by_dzeroedyi = cam.ProjectionJacobian();
// Form the required Jacobians
dhi_by_dxpRES = dhid_by_dzeroedyi * dzeroedyi_by_dxpRES;
dhi_by_dyiRES = dhid_by_dzeroedyi * dzeroedyi_by_dyiRES;
}
public override void func_yigraphics_and_Pyiyigraphics(Vector yi, MatrixFixed Pyiyi)
{
yigraphicsRES.Update(yi);
PyiyigraphicsRES.Update(Pyiyi);
}
public void func_ri(Vector ypi)
{
riRES.SetVNL3(ypi.Extract(3, 0));
}
/// <summary>
/// Predict the image location \vct{h}_i = (x,y) for
/// partially-initialised feature with state \vct{y}_i , given the current
/// camera location \vct{x}_p and the depth parameter \lambda .
/// </summary>
/// <param name="yi"></param>
/// <param name="xp"></param>
/// <param name="lambda"></param>
public override void func_hpi_and_dhpi_by_dxp_and_dhpi_by_dyi(Vector yi,
Vector xp,
Vector lambda)
{
// This function gives relative position of feature: also call this hR
// (vector from camera to feature in robot frame)
func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(yi, xp);
// Parameters of vector hLR from camera to feature in robot frame
// hLR = zeroedri + lambda * zeroedhhati
// Calculate the vector from the camera to the feature given the current
// lambda
Vector hLR = zeroedyiRES.Extract(3, 0) + zeroedyiRES.Extract(3, 3) * lambda[0];
// Project this into the image
hpiRES = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.Project(hLR);
// What is the Jacobian of this projection?
MatrixFixed dhpi_by_dhLRi = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.ProjectionJacobian();
// Calculate the required result Jacobians
// Now how the vector to the feature depends on the parameterised line
// (this is a function of lambda)
float[] b = new float[18];
b[0] = 1.0f;
b[1] = 0.0f;
b[2] = 0.0f;
b[3] = lambda[0];
b[4] = 0.0f;
b[5] = 0.0f;
b[6] = 0.0f;
b[7] = 1.0f;
b[8] = 0.0f;
b[9] = 0.0f;
b[10] = lambda[0];
b[11] = 0.0f;
b[12] = 0.0f;
b[13] = 0.0f;
b[14] = 1.0f;
b[15] = 0.0f;
b[16] = 0.0f;
b[17] = lambda[0];
MatrixFixed dhLRi_by_dzeroedyi = new MatrixFixed(3, 6, b);
dhpi_by_dxpRES = dhpi_by_dhLRi * dhLRi_by_dzeroedyi * dzeroedyi_by_dxpRES;
dhpi_by_dyiRES = dhpi_by_dhLRi * dhLRi_by_dzeroedyi * dzeroedyi_by_dyiRES;
/*
if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("func_hpi: yi = " + yi + "," +
"xp = " + xp + "," +
"lambda = " + lambda + "," +
"hpiRES = " + hpiRES);
*/
}
public override uint visibility_test(Vector v, Vector v2,
Vector v3, Vector v4)
{
// Always visible for now
return 0;
}
public override void func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(Vector yi, Vector xp)
{
Wide_Camera_Point_Feature_Measurement_Model wm = (Wide_Camera_Point_Feature_Measurement_Model)wide_model;
// Extract cartesian and quaternion components of xp
wm.threed_motion_model.func_r(xp);
wm.threed_motion_model.func_q(xp);
// Extract ri and hhati components of yi = ypi
func_ri(yi);
func_hhati(yi);
// ri part: transformation is just the same as in the normal point case
// zeroedri = RRW(rWi - rW) //commented out in original code
// ri - r
Vector3D yWiminusrW = new Vector3D(riRES - wm.threed_motion_model.get_rRES());
Quaternion qRW = wm.threed_motion_model.get_qRES().Inverse();
MatrixFixed dqRW_by_dq = MatrixFixed.dqbar_by_dq();
// Rotation RRW
RotationMatrix RRW = qRW.RotationMatrix();
// RRW(rWi - rW)
Vector3D zeroedri = new Vector3D(RRW * yWiminusrW);
// Now calculate Jacobians
// dzeroedri_by_dri is RRW
// dzeroedri_by_dhhati = 0
MatrixFixed dzeroedri_by_dri = new MatrixFixed(RRW);
// dzeroedyi_by_dxp:
// dzeroedri_by_dr = -RRW
// dzeroedri_by_dq = d_dq(RRW (ri - r))
MatrixFixed dzeroedri_by_dr = RRW * -1.0f;
MatrixFixed dzeroedri_by_dqRW = MatrixFixed.dRq_times_a_by_dq(qRW, yWiminusrW);
MatrixFixed dzeroedri_by_dq = dzeroedri_by_dqRW * dqRW_by_dq;
// Now for the hhati part (easier...)
// zeroedhhati = RRW hhati
Vector3D zeroedhhati = new Vector3D(RRW * hhatiRES);
// Jacobians
// dzeroedhhati_by_dr = 0
// dzeroedhhati_by_dq = d_dq(RRW hhati)
// dzeroedhhati_by_dhhati = RRW
// dzeroedhhati_by_dri = 0
MatrixFixed dzeroedhhati_by_dqRW = MatrixFixed.dRq_times_a_by_dq(qRW, hhatiRES);
MatrixFixed dzeroedhhati_by_dq = dzeroedhhati_by_dqRW * dqRW_by_dq;
MatrixFixed dzeroedhhati_by_dhhati = new MatrixFixed(RRW);
// And put it all together
zeroedyiRES.Update(zeroedri.GetVNL3(), 0);
zeroedyiRES.Update(zeroedhhati.GetVNL3(), 3);
//cout << "Line: zeroedri = " << zeroedri << "zeroedhhati = " << zeroedhhati;
dzeroedyi_by_dxpRES.Fill(0.0f);
dzeroedyi_by_dxpRES.Update(dzeroedri_by_dr, 0, 0);
dzeroedyi_by_dxpRES.Update(dzeroedri_by_dq, 0, 3);
dzeroedyi_by_dxpRES.Update(dzeroedhhati_by_dq, 3, 3);
dzeroedyi_by_dyiRES.Fill(0.0f);
dzeroedyi_by_dyiRES.Update(dzeroedri_by_dri, 0, 0);
dzeroedyi_by_dyiRES.Update(dzeroedhhati_by_dhhati, 3, 3);
}
public override void func_zeroedyigraphics_and_Pzeroedyigraphics(Vector yi, Vector xv,
MatrixFixed Pxx, MatrixFixed Pxyi, MatrixFixed Pyiyi)
{
((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.func_xp(xv);
// In this case (where the feature state is the same as the graphics
// state) zeroedyigraphics is the same as zeroedyi
func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(yi, ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_xpRES());
zeroedyigraphicsRES.Update(zeroedyiRES);
MatrixFixed dzeroedyigraphics_by_dxv = dzeroedyi_by_dxpRES * ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_dxp_by_dxvRES();
PzeroedyigraphicsRES.Update(dzeroedyigraphics_by_dxv * Pxx * dzeroedyigraphics_by_dxv.Transpose() +
dzeroedyi_by_dyiRES * Pxyi.Transpose() * dzeroedyigraphics_by_dxv.Transpose() +
dzeroedyigraphics_by_dxv * Pxyi * dzeroedyi_by_dyiRES.Transpose() +
dzeroedyi_by_dyiRES * Pyiyi * dzeroedyi_by_dyiRES.Transpose());
}
public virtual classimage_mono initialise_known_feature(Feature_Measurement_Model f_m_m,
Vector yi, uint known_feature_label, String path) { return (null); }
public override void func_Ri(Vector hi)
{
RiRES = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.MeasurementNoise(hi);
}
public virtual classimage_mono initialise_known_feature(Feature_Measurement_Model f_m_m,
Vector yi, Settings.Section section, String path) { return (null); }
/// <summary>
/// Partial initialisation function
/// Calculates the state vector \vct{y}_{pi} and Jacobians for a new
/// partially-initialised feature from an initial observation.
/// @param hi The initial measurement \vct{h}_i , in this case the (x,y)
/// image location of the feature.
/// </summary>
/// <param name="hi"></param>
/// <param name="xp">The robot position state \vct{x}_p from which the initial observation was made.</param>
public override void func_ypi_and_dypi_by_dxp_and_dypi_by_dhi_and_Ri(Vector hi, Vector xp)
{
// Representation of a line here:
// ypi = (rWi )
// (hLhatWi)
// Form the ray (in camera co-ordinates by unprojecting this image location
Vector3D hLRi = new Vector3D(((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.Unproject(hi));
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("debug hLRi");
// Form hLhatRi from hLRi
// Normalise
Vector3D hLhatRi = hLRi;
hLhatRi.Normalise();
MatrixFixed dhLhatRi_by_dhLRi = MatrixFixed.dvnorm_by_dv(hLRi);
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("debug hLhatRi" + hLhatRi);
// Now convert this into a direction in world co-ordinates by rotating
// Form hLhatWi from hLhatRi
// Rotate
((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.func_q(xp);
RotationMatrix RWR = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_qRES().RotationMatrix();
Vector3D hLhatWi = new Vector3D(RWR * hLhatRi);
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("debug hLhatWi" + hLhatWi);
// Extract rW from xp
((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.func_r(xp);
// And form ypiRES
ypiRES.Update(((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_rRES().GetVNL3(), 0);
ypiRES.Update(hLhatWi.GetVNL3(), 3);
//if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("debug ypiRES" + ypiRES);
// Form Jacobians dypi_by_dxp and dypi_by_dhi
// dypi_by_dxp = (drWi_by_dr drWi_by_dq )
// (dhLhatWi_by_dr dhLhatWi_by_dq)
// = (I 0 )
// (0 dhLhatWi_by_dq)
// hLhatWi = RWR * hLhatRi
// => dhLhatWi_by_dq = d/dq ( R(qWR) * hLhatRi)
MatrixFixed dhLhatWi_by_dq = MatrixFixed.dRq_times_a_by_dq(((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model.get_qRES(), hLhatRi);
// Put dypi_by_dxp together
dypi_by_dxpRES.Fill(0.0f);
dypi_by_dxpRES.Put(0, 0, 1.0f);
dypi_by_dxpRES.Put(1, 1, 1.0f);
dypi_by_dxpRES.Put(2, 2, 1.0f);
dypi_by_dxpRES.Update(dhLhatWi_by_dq, 3, 3);
// cout << "dypi_by_dxpRES" << dypi_by_dxpRES;
// dypi_by_dhi = (drWi_by_dhi )
// (dhLhatWi_by_dhi)
// = (0 )
// (dhLhatWi_by_dhi)
// hLhatWi = RWR * hLhatRi
// Need to work out derivative for this
// dhLhatWi_by_dhi = RWR * dhLhatRi_by_dhLRi * dhLRi_by_dhi
MatrixFixed dhLhatWi_by_dhi = RWR * dhLhatRi_by_dhLRi * ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera.UnprojectionJacobian();
dypi_by_dhiRES.Fill(0.0f);
dypi_by_dhiRES.Update(dhLhatWi_by_dhi, 3, 0);
// cout << "dypi_by_dhiRES" << dypi_by_dhiRES;
// And construct Ri
func_Ri(hi);
/*
if (Camera_Constants.DEBUGDUMP) Debug.WriteLine("func_ypi: hi = " + hi + "," +
"xp = " + xp + "," +
"ypiRES = " + ypiRES);
*/
}
/// <summary>
/// Make the first measurement of a feature.
/// </summary>
/// <param name="z">The location of the feature to measure</param>
/// <param name="id">The Identifier to fill with the feature measurements</param>
/// <param name="f_m_m">The feature measurement model to use for this partially-initialised feature</param>
/// <returns></returns>
public virtual bool make_initial_measurement_of_feature(Vector z,
ref classimage_mono id,
Partially_Initialised_Feature_Measurement_Model f_m_m,
Vector patch_colour) { return (false); }
/// <summary>
/// Conversion function: how to turn partially initialised feature ypi
/// into fully initialised one yfi
/// </summary>
/// <param name="ypi"></param>
/// <param name="lambda"></param>
public override void func_yfi_and_dyfi_by_dypi_and_dyfi_by_dlambda(Vector ypi, Vector lambda)
{
// Simple: lambda is a scalar
// yfi = ri + lambda hhati //commented out in original code
func_ri(ypi);
func_hhati(ypi);
float[] a = new float[3];
a[0] = riRES.GetX() + lambda[0] * hhatiRES.GetX();
a[1] = riRES.GetY() + lambda[0] * hhatiRES.GetY();
a[2] = riRES.GetZ() + lambda[0] * hhatiRES.GetZ();
yfiRES.CopyIn(a);
float[] b = new float[18];
b[0] = 1.0f;
b[1] = 0.0f;
b[2] = 0.0f;
b[3] = lambda[0];
b[4] = 0.0f;
b[5] = 0.0f;
b[6] = 0.0f;
b[7] = 1.0f;
b[8] = 0.0f;
b[9] = 0.0f;
b[10] = lambda[0];
b[11] = 0.0f;
b[12] = 0.0f;
b[13] = 0.0f;
b[14] = 1.0f;
b[15] = 0.0f;
b[16] = 0.0f;
b[17] = lambda[0];
dyfi_by_dypiRES.CopyIn(b);
dyfi_by_dlambdaRES.Put(0, 0, hhatiRES.GetX());
dyfi_by_dlambdaRES.Put(1, 0, hhatiRES.GetY());
dyfi_by_dlambdaRES.Put(2, 0, hhatiRES.GetZ());
}
// In this case the graphics representation y_i^{graphics} and its
// covariance is the same as the feature state y_i and covariance.
public override void func_yigraphics_and_Pyiyigraphics(Vector yi, MatrixFixed Pyiyi)
{
// The graphics representation is the same as the state
yigraphicsRES.Update(yi);
PyiyigraphicsRES.Update(Pyiyi);
}
public void func_hhati(Vector ypi)
{
hhatiRES.SetVNL3(ypi.Extract(3, 3));
}
public override void func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(Vector yi, Vector xp)
{
ThreeD_Motion_Model mm = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).threed_motion_model;
// Extract cartesian and quaternion components of xp
mm.func_r(xp);
mm.func_q(xp);
Vector3D yWiminusrW = new Vector3D((new Vector3D(yi)) -(mm.get_rRES()));
Quaternion qRES = mm.get_qRES();
Quaternion qRW = qRES.Inverse();
MatrixFixed dqRW_by_dq = MatrixFixed.dqbar_by_dq();
// Rotation RRW
RotationMatrix RRW = qRW.RotationMatrix();
// Position of feature relative to robot in robot frame
Vector3D zeroedyi = new Vector3D(RRW * yWiminusrW);
zeroedyiRES.Update(zeroedyi.GetVNL3());
// Now calculate Jacobians
// dzeroedyi_by_dyi is RRW
dzeroedyi_by_dyiRES.Update(RRW);
// dzeroedyi_by_dxp has 2 partitions:
// dzeroedyi_by_dr (3 * 3)
// dzeroedyi_by_dq (3 * 4)
MatrixFixed dzeroedyi_by_dr = (MatrixFixed)(RRW);
dzeroedyi_by_dr *= -1.0f;
//These should be 3x4 dimension
MatrixFixed dzeroedyi_by_dqRW = MatrixFixed.dRq_times_a_by_dq(qRW, yWiminusrW);
MatrixFixed dzeroedyi_by_dq = dzeroedyi_by_dqRW * dqRW_by_dq;
dzeroedyi_by_dxpRES.Update(dzeroedyi_by_dr, 0, 0);
dzeroedyi_by_dxpRES.Update(dzeroedyi_by_dq, 0, 3);
}
