120 lines
3.8 KiB
C++
120 lines
3.8 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 CreateSFMExampleData.cpp
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* @brief Create some example data that for inclusion in the data folder
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* @author Frank Dellaert
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*/
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#include <gtsam/geometry/CalibratedCamera.h>
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#include <gtsam/slam/dataset.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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void createExampleBALFile(const string& filename, const vector<Point3>& points,
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const Pose3& pose1, const Pose3& pose2,
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const Cal3Bundler& K = Cal3Bundler()) {
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// Class that will gather all data
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SfmData data;
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// Create two cameras and add them to data
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data.cameras.push_back(SfmCamera(pose1, K));
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data.cameras.push_back(SfmCamera(pose2, K));
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for (const Point3& p : points) {
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// Create the track
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SfmTrack track;
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track.p = p;
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track.r = 1;
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track.g = 1;
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track.b = 1;
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// Project points in both cameras
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for (size_t i = 0; i < 2; i++)
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track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
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// Add track to data
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data.tracks.push_back(track);
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}
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writeBAL(filename, data);
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}
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/* ************************************************************************* */
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void create5PointExample1() {
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// Create two cameras poses
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Rot3 aRb = Rot3::Yaw(M_PI_2);
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Point3 aTb(0.1, 0, 0);
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Pose3 pose1, pose2(aRb, aTb);
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// Create test data, we need at least 5 points
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vector<Point3> points = {
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{0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, {0, 0.5, 0.5}, {0, -0.5, 0.5}};
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// Assumes example is run in ${GTSAM_TOP}/build/examples
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const string filename = "../../examples/Data/5pointExample1.txt";
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createExampleBALFile(filename, points, pose1, pose2);
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}
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/* ************************************************************************* */
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void create5PointExample2() {
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// Create two cameras poses
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Rot3 aRb = Rot3::Yaw(M_PI_2);
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Point3 aTb(10, 0, 0);
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Pose3 pose1, pose2(aRb, aTb);
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// Create test data, we need at least 5 points
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vector<Point3> points = {{0, 0, 100}, {-10, 0, 100}, {10, 0, 100}, //
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{0, 50, 50}, {0, -50, 50}, {-20, 0, 80}, //
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{20, -50, 80}};
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// Assumes example is run in ${GTSAM_TOP}/build/examples
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const string filename = "../../examples/Data/5pointExample2.txt";
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Cal3Bundler K(500, 0, 0);
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createExampleBALFile(filename, points, pose1, pose2, K);
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}
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/* ************************************************************************* */
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void create18PointExample1() {
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// Create two cameras poses
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Rot3 aRb = Rot3::Yaw(M_PI_2);
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Point3 aTb(0.1, 0, 0);
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Pose3 pose1, pose2(aRb, aTb);
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// Create test data, we need 15 points
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vector<Point3> points = {
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{0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, //
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{0, 0.5, 0.5}, {0, -0.5, 0.5}, {-1, -0.5, 2}, //
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{-1, 0.5, 2}, {0.25, -0.5, 1.5}, {0.25, 0.5, 1.5}, //
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{-0.1, -0.5, 0.5}, {0.1, -0.5, 1}, {0.1, 0.5, 1}, //
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{-0.1, 0, 0.5}, {-0.1, 0.5, 0.5}, {0, 0, 0.5}, //
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{0.1, -0.5, 0.5}, {0.1, 0, 0.5}, {0.1, 0.5, 0.5}};
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// Assumes example is run in ${GTSAM_TOP}/build/examples
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const string filename = "../../examples/Data/18pointExample1.txt";
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createExampleBALFile(filename, points, pose1, pose2);
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}
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int main(int argc, char* argv[]) {
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create5PointExample1();
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create5PointExample2();
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create18PointExample1();
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return 0;
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}
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/* ************************************************************************* */
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