56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeSFMBAL.cpp
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* @brief time SFM with BAL file, conventional GeneralSFMFactor
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* @author Frank Dellaert
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* @date June 6, 2015
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*/
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#include "timeSFMBAL.h"
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#include <gtsam/slam/GeneralSFMFactor.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Point3.h>
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using namespace std;
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using namespace gtsam;
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typedef PinholeCamera<Cal3Bundler> Camera;
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typedef GeneralSFMFactor<Camera, Point3> SfmFactor;
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int main(int argc, char* argv[]) {
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// parse options and read BAL file
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SfM_data db = preamble(argc, argv);
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// Build graph using conventional GeneralSFMFactor
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NonlinearFactorGraph graph;
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for (size_t j = 0; j < db.number_tracks(); j++) {
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for (const SfM_Measurement& m: db.tracks[j].measurements) {
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size_t i = m.first;
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Point2 z = m.second;
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graph.push_back(SfmFactor(z, gNoiseModel, C(i), P(j)));
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}
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}
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Values initial;
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size_t i = 0, j = 0;
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for (const SfM_Camera& camera: db.cameras)
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initial.insert(C(i++), camera);
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for (const SfM_Track& track: db.tracks)
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initial.insert(P(j++), track.p);
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return optimize(db, graph, initial);
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}
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