1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
|
/* ----------------------------------------------------------------------------
* 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 timeSFMBAL.cpp
* @brief time SFM with BAL file, conventional GeneralSFMFactor
* @author Frank Dellaert
* @date June 6, 2015
*/
#include "timeSFMBAL.h"
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point3.h>
using namespace std;
using namespace gtsam;
typedef PinholeCamera<Cal3Bundler> Camera;
typedef GeneralSFMFactor<Camera, Point3> SfmFactor;
int main(int argc, char* argv[]) {
// parse options and read BAL file
SfmData db = preamble(argc, argv);
// Build graph using conventional GeneralSFMFactor
NonlinearFactorGraph graph;
for (size_t j = 0; j < db.numberTracks(); j++) {
for (const SfmMeasurement& m: db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
graph.emplace_shared<SfmFactor>(z, gNoiseModel, C(i), P(j));
}
}
Values initial;
size_t i = 0, j = 0;
for (const SfmCamera& camera: db.cameras)
initial.insert(C(i++), camera);
for (const SfmTrack& track: db.tracks)
initial.insert(P(j++), track.p);
return optimize(db, graph, initial);
}
|
