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minor cleanup and comments

release/4.3a0
cbeall3 2014-05-29 00:47:37 -04:00
parent fe5953d195
commit 182fd06cb8
1 changed files with 35 additions and 33 deletions
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66
examples/StereoVOExample_large.cpp
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@ -25,45 +25,41 @@
*/
#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>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/slam/dataset.h>
#include <string>
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>
using namespace std;
using namespace gtsam;
int main(int argc, char** argv){
Values initial_estimate;
NonlinearFactorGraph graph;
const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
Values initial_estimate = Values();
vector<double> read_vector;
string read_string, parse_string;
string data_folder = "C:/Users/Stephen/Documents/Borg/gtsam/Examples/Data/";
string calibration_loc = data_folder + "VO_calibration.txt";
string pose_loc = data_folder + "VO_camera_poses_large.txt";
string factor_loc = data_folder + "VO_stereo_factors_large.txt";
string calibration_loc = findExampleDataFile("VO_calibration.txt");
string pose_loc = findExampleDataFile("VO_camera_poses_large.txt");
string factor_loc = findExampleDataFile("VO_stereo_factors_large.txt");
//read camera calibration info from file
double fx,fy,s,u,v,b;
// focal lengths fx, fy, skew s, principal point u0, v0, baseline b
double fx, fy, s, u0, v0, b;
ifstream calibration_file(calibration_loc);
cout << "Reading calibration info" << endl;
calibration_file >> fx >> fy >> s >> u >> v >> b;
calibration_file >> fx >> fy >> s >> u0 >> v0 >> b;
//create stereo camera calibration object
const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u,v,b));
const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u0,v0,b));
ifstream pose_file(pose_loc);
cout << "Reading camera poses" << endl;
@ -77,30 +73,36 @@ int main(int argc, char** argv){
initial_estimate.insert(Symbol('x', pose_id), Pose3(m));
}
double x, l, uL, uR, v, X, Y, Z;
// camera and landmark keys
size_t x, l;
// pixel coordinates uL, uR, v (same for left/right images due to rectification)
// landmark coordinates X, Y, Z in camera frame, resulting from triangulation
double uL, uR, v, X, Y, Z;
ifstream factor_file(factor_loc);
cout << "Reading stereo factors" << endl;
//read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation
while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) {
graph.push_back(
GenericStereoFactor<Pose3,Point3>(StereoPoint2(uL, uR, v), model,
Symbol('x', x), Symbol('l', l), K));
//if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it
if(!initial_estimate.exists(Symbol('l',l))){
Pose3 camPose = initial_estimate.at<Pose3>(Symbol('x', x));
//transform_from() transforms the input Point3 from the camera pose space, camPose, to the global space
Point3 worldPoint = camPose.transform_from(Point3(X,Y,Z));
initial_estimate.insert(Symbol('l',l),worldPoint);
}
graph.push_back(
GenericStereoFactor<Pose3, Point3>(StereoPoint2(uL, uR, v), model,
Symbol('x', x), Symbol('l', l), K));
//if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it
if (!initial_estimate.exists(Symbol('l', l))) {
Pose3 camPose = initial_estimate.at<Pose3>(Symbol('x', x));
//transform_from() transforms the input Point3 from the camera pose space, camPose, to the global space
Point3 worldPoint = camPose.transform_from(Point3(X, Y, Z));
initial_estimate.insert(Symbol('l', l), worldPoint);
}
}
Pose3 first_pose = initial_estimate.at<Pose3>(Symbol('x',1));
first_pose.print("Check estimate poses:\n");
//constrain the first pose such that it cannot change from its original value during optimization
// NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky
// QR is much slower than Cholesky, but numerically more stable
graph.push_back(NonlinearEquality<Pose3>(Symbol('x',1),first_pose));
cout << "Optimizing" << endl;
//create Levenberg-Marquardt optimizer to solve the initial factor graph estimate
//create Levenberg-Marquardt optimizer to optimize the factor graph
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
Values result = optimizer.optimize();