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gtsam/examples/SFMdata.h

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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
* -------------------------------------------------------------------------- */
/**
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* @file SFMdata.h
renamed Visual SLAM -> SFM, reserve SLAM for problems where we have odometry
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* @brief Simple example for the structure-from-motion problems
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* @author Duy-Nguyen Ta
*/
/**
changed the SFMdata functions so that it allows the passage of function arguments to generate a trajectory; default arguments result in the original behaviour (described in header). In the range bearing examples: fixed weirdo text-artifacts, add newline for readability, added underscore the prediction expression.
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* A structure-from-motion example with landmarks, default function arguments give
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* - The landmarks form a 10 meter cube
* - The robot rotates around the landmarks, always facing towards the cube
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* Passing function argument allows to specificy an initial position, a pose increment and step count.
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*/
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#pragma once
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// As this is a full 3D problem, we will use Pose3 variables to represent the camera
// positions and Point3 variables (x, y, z) to represent the landmark coordinates.
// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y).
// We will also need a camera object to hold calibration information and perform projections.
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
// We will also need a camera object to hold calibration information and perform projections.
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#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
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/* ************************************************************************* */
std::vector<gtsam::Point3> createPoints() {
// Create the set of ground-truth landmarks
std::vector<gtsam::Point3> points;
points.push_back(gtsam::Point3(10.0,10.0,10.0));
points.push_back(gtsam::Point3(-10.0,10.0,10.0));
points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
points.push_back(gtsam::Point3(10.0,-10.0,10.0));
points.push_back(gtsam::Point3(10.0,10.0,-10.0));
points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
return points;
}
/* ************************************************************************* */
changed the SFMdata functions so that it allows the passage of function arguments to generate a trajectory; default arguments result in the original behaviour (described in header). In the range bearing examples: fixed weirdo text-artifacts, add newline for readability, added underscore the prediction expression.
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std::vector<gtsam::Pose3> createPoses(
const gtsam::Pose3& init = gtsam::Pose3(gtsam::Rot3::Ypr(M_PI/2,0,-M_PI/2), gtsam::Point3(30, 0, 0)),
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const gtsam::Pose3& delta = gtsam::Pose3(gtsam::Rot3::Ypr(0,-M_PI/4,0), gtsam::Point3(sin(M_PI/4)*30, 0, 30*(1-sin(M_PI/4)))),
changed the SFMdata functions so that it allows the passage of function arguments to generate a trajectory; default arguments result in the original behaviour (described in header). In the range bearing examples: fixed weirdo text-artifacts, add newline for readability, added underscore the prediction expression.
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int steps = 8) {
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// Create the set of ground-truth poses
changed the SFMdata functions so that it allows the passage of function arguments to generate a trajectory; default arguments result in the original behaviour (described in header). In the range bearing examples: fixed weirdo text-artifacts, add newline for readability, added underscore the prediction expression.
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// Default values give a circular trajectory, radius 30 at pi/4 intervals, always facing the circle center
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std::vector<gtsam::Pose3> poses;
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int i = 1;
poses.push_back(init);
for(; i < steps; ++i) {
poses.push_back(poses[i-1].compose(delta));
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}
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return poses;
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}