56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* 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
|
|
SfM_data db = preamble(argc, argv);
|
|
|
|
// Add smart factors to graph
|
|
NonlinearFactorGraph graph;
|
|
for (size_t j = 0; j < db.number_tracks(); j++) {
|
|
auto smartFactor = boost::make_shared<SfmFactor>(gNoiseModel);
|
|
for (const SfM_Measurement& 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 SfM_Camera& camera : db.cameras)
|
|
initial.insert(C(i++), camera);
|
|
|
|
return optimize(db, graph, initial);
|
|
}
|