76 lines
2.3 KiB
C++
76 lines
2.3 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 timeCameraExpression.cpp
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* @brief time CalibratedCamera derivatives
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* @author Frank Dellaert
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* @date October 3, 2014
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*/
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#include "timeLinearize.h"
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#include <gtsam/3rdparty/ceres/example.h>
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#include <gtsam/nonlinear/AdaptAutoDiff.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam/slam/GeneralSFMFactor.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3Bundler.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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#define time timeMultiThreaded
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int main() {
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// The DefaultChart of Camera below is laid out like Snavely's 9-dim vector
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typedef PinholeCamera<Cal3Bundler> Camera;
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typedef Expression<Point2> Point2_;
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typedef Expression<Camera> Camera_;
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typedef Expression<Point3> Point3_;
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// Create leaves
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Camera_ camera(1);
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Point3_ point(2);
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// Some parameters needed
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Point2 z(-17, 30);
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SharedNoiseModel model = noiseModel::Unit::Create(2);
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// Create values
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Values values;
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values.insert(1, Camera());
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values.insert(2, Point3(0, 0, 1));
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NonlinearFactor::shared_ptr f1, f2, f3;
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// Dedicated factor
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f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
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time("GeneralSFMFactor<Camera> : ", f1, values);
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// ExpressionFactor
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Point2_ expression2(camera, &Camera::project2, point);
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f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2);
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time("Point2_(camera, &Camera::project, point): ", f3, values);
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// AdaptAutoDiff
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values.clear();
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values.insert(1,Vector9(Vector9::Zero()));
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values.insert(2,Vector3(0,0,1));
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typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely;
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Expression<Vector2> expression(AdaptedSnavely(), Expression<Vector9>(1), Expression<Vector3>(2));
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f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z, expression);
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time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
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return 0;
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}
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