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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 timeSFMBALsmart.cpp
* @brief time SFM with BAL file, SmartProjectionFactor
* @author Frank Dellaert
* @date Feb 26, 2016
*/
#include "timeSFMBAL.h"
#include <gtsam/slam/SmartProjectionFactor.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 SmartProjectionFactor<Camera> SfmFactor;
int main(int argc, char* argv[]) {
// parse options and read BAL file
SfmData db = preamble(argc, argv);
// Add smart factors to graph
NonlinearFactorGraph graph;
for (size_t j = 0; j < db.numberTracks(); j++) {
auto smartFactor = boost::make_shared<SfmFactor>(gNoiseModel);
for (const SfmMeasurement& m : db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
smartFactor->add(z, C(i));
}
graph.push_back(smartFactor);
}
Values initial;
size_t i = 0;
gUseSchur = false;
for (const SfmCamera& camera : db.cameras)
initial.insert(C(i++), camera);
return optimize(db, graph, initial);
}
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