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release/4.3a0
cbeall3 2014-06-12 16:09:39 -04:00
parent 8bee2cd70f
commit 12f19e8a7c
1 changed files with 13 additions and 12 deletions
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examples/StereoVOExample.cpp
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@ -24,47 +24,48 @@
*/
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Key.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/inference/Symbol.h>
using namespace std;
using namespace gtsam;
int main(int argc, char** argv){
//create graph object, add first pose at origin with key '1'
NonlinearFactorGraph graph;
Pose3 first_pose = Pose3();
graph.push_back(NonlinearEquality<Pose3>(1, first_pose));
Pose3 first_pose;
graph.push_back(NonlinearEquality<Pose3>(1, Pose3()));
//create factor noise model with 3 sigmas of value 1
const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
//create stereo camera calibration object with .2m between cameras
const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2));
//create and add stereo factors between first pose (key value 1) and the three landmarks
graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(520, 480, 440), model, 1, 3, K));
graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(120, 80, 440), model, 1, 4, K));
graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(320, 280, 140), model, 1, 5, K));
//create and add stereo factors between second pose and the three landmarks
graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(570, 520, 490), model, 2, 3, K));
graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(70, 20, 490), model, 2, 4, K));
graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(320, 270, 115), model, 2, 5, K));
//create Values object to contain initial estimates of camera poses and landmark locations
Values initial_estimate = Values();
Values initial_estimate;
//create and add iniital estimates
initial_estimate.insert(1, first_pose);
initial_estimate.insert(2, Pose3(Rot3(), Point3(0.1, -0.1, 1.1)));
initial_estimate.insert(3, Point3(1, 1, 5));
initial_estimate.insert(4, Point3(-1, 1, 5));
initial_estimate.insert(5, Point3(0, -0.5, 5));
//create Levenberg-Marquardt optimizer for resulting factor graph, optimize
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
Values result = optimizer.optimize();