75 lines
2.3 KiB
C++
75 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 timeSFMBALautodiff.cpp
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* @brief time SFM with BAL file, Ceres autodiff version
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* @author Frank Dellaert
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* @date July 5, 2015
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*/
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#include "timeSFMBAL.h"
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam/nonlinear/AdaptAutoDiff.h>
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#include <gtsam/3rdparty/ceres/example.h>
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#include <stddef.h>
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#include <stdexcept>
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#include <string>
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using namespace std;
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using namespace gtsam;
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// See http://www.cs.cornell.edu/~snavely/bundler/bundler-v0.3-manual.html
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// as to why so much gymnastics is needed to massage the initial estimates and
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// measurements: basically, Snavely does not use computer vision conventions
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// but OpenGL conventions :-(
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typedef PinholeCamera<Cal3Bundler> Camera;
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int main(int argc, char* argv[]) {
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// parse options and read BAL file
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SfmData db = preamble(argc, argv);
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AdaptAutoDiff<SnavelyProjection, 2, 9, 3> snavely;
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// Build graph
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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 SfmMeasurement& 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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Expression<Vector9> camera_(C(i));
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Expression<Vector3> point_(P(j));
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// Expects measurements in OpenGL format, with y increasing upwards
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graph.addExpressionFactor(gNoiseModel, Vector2(z.x(), -z.y()),
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Expression<Vector2>(snavely, camera_, point_));
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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 SfmCamera& camera: db.cameras) {
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// readBAL converts to GTSAM format, so we need to convert back !
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Pose3 openGLpose = gtsam2openGL(camera.pose());
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Vector9 v9;
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v9 << Pose3::Logmap(openGLpose), camera.calibration();
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initial.insert(C(i++), v9);
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}
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for (const SfmTrack& track: db.tracks) {
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Vector3 v3 = track.p;
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initial.insert(P(j++), v3);
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}
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return optimize(db, graph, initial);
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}
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