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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 timeSFMBALnavTcam.cpp
* @brief time SFM with BAL file, expressions with navTcam pose
* @author Frank Dellaert
* @date July 5, 2015
*/
#include "timeSFMBAL.h"
#include <gtsam/slam/expressions.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Point3.h>
using namespace std;
using namespace gtsam;
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++) {
Point3_ nav_point_(P(j));
for (const SfmMeasurement& m: db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
Pose3_ navTcam_(C(i));
Cal3Bundler_ calibration_(K(i));
graph.addExpressionFactor(
gNoiseModel, z,
uncalibrate(calibration_,
project(transformTo(navTcam_, nav_point_))));
}
}
Values initial;
size_t i = 0, j = 0;
for (const SfmCamera& camera: db.cameras) {
initial.insert(C(i), camera.pose());
initial.insert(K(i), camera.calibration());
i += 1;
}
for (const SfmTrack& track: db.tracks)
initial.insert(P(j++), track.p);
bool separateCalibration = true;
return optimize(db, graph, initial, separateCalibration);
}
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