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Optimized transformations by transposing and then multiplying in place #424

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289a906
Optimized transformations by transposing and then multiplying in place
YoshuaNava Dec 2, 2020
1eb4850
Better comments
YoshuaNava Dec 2, 2020
520f67f
Adjust transformations unit test epsilon
YoshuaNava Dec 2, 2020
25dc18c
Merge branch 'master' into feature/opt_transformations_transpose
pomerlef Feb 12, 2021
4724a41
Merge branch 'master' into feature/opt_transformations_transpose
pomerlef Apr 6, 2021
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21 changes: 14 additions & 7 deletions pointmatcher/TransformationsImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,8 +73,9 @@ void TransformationsImpl<T>::RigidTransformation::inPlaceCompute(
if(this->checkParameters(parameters) == false)
throw TransformationError("RigidTransformation: Error, rotation matrix is not orthogonal.");

// Apply the transformation to features
cloud.features.applyOnTheLeft(parameters);
// Apply the transformation to features.
// B = A * B translates to B.transpose *= A.transpose()
cloud.features.transpose().applyOnTheRight(parameters.transpose());

// Apply the transformation to descriptors
int row(0);
Expand All @@ -85,7 +86,9 @@ void TransformationsImpl<T>::RigidTransformation::inPlaceCompute(
const std::string& name(cloud.descriptorLabels[i].text);
if (name == "normals" || name == "observationDirections")
{
cloud.descriptors.block(row, 0, span, descCols).applyOnTheLeft(R);
// Rotate descriptors.
// B = A * B translates to B.transpose *= A.transpose()
cloud.descriptors.block(row, 0, span, descCols).transpose() *= R.transpose();
}

row += span;
Expand Down Expand Up @@ -188,7 +191,8 @@ void TransformationsImpl<T>::SimilarityTransformation::inPlaceCompute(
throw TransformationError("SimilarityTransformation: Error, invalid similarity transform.");

// Apply the transformation to features
cloud.features.applyOnTheLeft(parameters);
// B = A * B translates to B.transpose *= A.transpose()
cloud.features.transpose().applyOnTheRight(parameters.transpose());

// Apply the transformation to descriptors
int row(0);
Expand All @@ -199,7 +203,9 @@ void TransformationsImpl<T>::SimilarityTransformation::inPlaceCompute(
const std::string& name(cloud.descriptorLabels[i].text);
if (name == "normals" || name == "observationDirections")
{
cloud.descriptors.block(row, 0, span, descCols).applyOnTheLeft(R);
// Rotate descriptors.
// B = A * B translates to B.transpose *= A.transpose()
cloud.descriptors.block(row, 0, span, descCols).transpose() *= R.transpose();
}

row += span;
Expand Down Expand Up @@ -242,8 +248,9 @@ void TransformationsImpl<T>::PureTranslation::inPlaceCompute(
if(this->checkParameters(parameters) == false)
throw PointMatcherSupport::TransformationError("PureTranslation: Error, left part not identity.");

// Apply the transformation to features
cloud.features.applyOnTheLeft(parameters);
// Apply the transformation to features.
// B = A * B translates to B.transpose() *= A.transpose()
cloud.features.transpose().applyOnTheRight(parameters.transpose());
}

template<typename T>
Expand Down
2 changes: 1 addition & 1 deletion utest/ui/Transformations.cpp
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Expand Up @@ -24,7 +24,7 @@ static inline Eigen::Transform<NumericType, 3, Eigen::Affine> buildUpTransformat

static inline void assertOnDataPointsTransformation(const PM::DataPoints& cloud, const PM::TransformationParameters& transformation,
std::shared_ptr<PM::Transformation>& transformator,
const NumericType kEpsilonNumericalError = 0)
const NumericType kEpsilonNumericalError = 1e-13)
{
// Transform point cloud.
auto transformedCloud = cloud;
Expand Down