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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file StereoVOExample.cpp
* @brief A stereo visual odometry example
* @date May 25, 2014
* @author Stephen Camp
*/
/**
* A 3D stereo visual odometry example
* - robot starts at origin
* -moves forward 1 meter
* -takes stereo readings on three landmarks
*/
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/StereoFactor.h>
using namespace std;
using namespace gtsam;
int main(int argc, char** argv) {
// create graph object, add first pose at origin with key '1'
NonlinearFactorGraph graph;
Pose3 first_pose;
graph.emplace_shared<NonlinearEquality<Pose3> >(1, Pose3());
// create factor noise model with 3 sigmas of value 1
const auto model = noiseModel::Isotropic::Sigma(3, 1);
// create stereo camera calibration object with .2m between cameras
const Cal3_S2Stereo::shared_ptr K(
new Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2));
//create and add stereo factors between first pose (key value 1) and the three landmarks
graph.emplace_shared<GenericStereoFactor<Pose3,Point3> >(StereoPoint2(520, 480, 440), model, 1, 3, K);
graph.emplace_shared<GenericStereoFactor<Pose3,Point3> >(StereoPoint2(120, 80, 440), model, 1, 4, K);
graph.emplace_shared<GenericStereoFactor<Pose3,Point3> >(StereoPoint2(320, 280, 140), model, 1, 5, K);
//create and add stereo factors between second pose and the three landmarks
graph.emplace_shared<GenericStereoFactor<Pose3,Point3> >(StereoPoint2(570, 520, 490), model, 2, 3, K);
graph.emplace_shared<GenericStereoFactor<Pose3,Point3> >(StereoPoint2(70, 20, 490), model, 2, 4, K);
graph.emplace_shared<GenericStereoFactor<Pose3,Point3> >(StereoPoint2(320, 270, 115), model, 2, 5, K);
// create Values object to contain initial estimates of camera poses and
// landmark locations
Values initial_estimate;
// create and add iniital estimates
initial_estimate.insert(1, first_pose);
initial_estimate.insert(2, Pose3(Rot3(), Point3(0.1, -0.1, 1.1)));
initial_estimate.insert(3, Point3(1, 1, 5));
initial_estimate.insert(4, Point3(-1, 1, 5));
initial_estimate.insert(5, Point3(0, -0.5, 5));
// create Levenberg-Marquardt optimizer for resulting factor graph, optimize
LevenbergMarquardtOptimizer optimizer(graph, initial_estimate);
Values result = optimizer.optimize();
result.print("Final result:\n");
return 0;
}
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