12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

minor cleanup

release/4.3a0
cbeall3 2014-05-30 19:37:03 -04:00
parent f0257ee619
commit 41de41deec
1 changed files with 13 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
View File

@ -19,10 +19,11 @@
/**
* A smart projection factor example based on stereo data
* - robot starts at origin
* A smart projection factor example based on stereo data, throwing away the
* measurement from the right camera
* -robot starts at origin
* -moves forward, taking periodic stereo measurements
* -takes stereo readings of many landmarks
* -makes monocular observations of many landmarks
*/
#include <gtsam/geometry/Pose3.h>
@ -32,7 +33,6 @@
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/slam/dataset.h>
#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
@ -58,18 +58,16 @@ int main(int argc, char** argv){
//read camera calibration info from file
// 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 >> u0 >> v0 >> b;
ifstream calibration_file(calibration_loc.c_str());
//create stereo camera calibration object
// const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u0,v0,b));
double fx, fy, s, u0, v0, b;
calibration_file >> fx >> fy >> s >> u0 >> v0 >> b;
const Cal3_S2::shared_ptr K(new Cal3_S2(fx, fy, s, u0, v0));
ifstream pose_file(pose_loc);
cout << "Reading camera poses" << endl;
ifstream pose_file(pose_loc.c_str());
int pose_id;
MatrixRowMajor m(4,4);
//read camera pose parameters and use to make initial estimates of camera poses
@ -86,17 +84,15 @@ int main(int argc, char** argv){
// 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);
ifstream factor_file(factor_loc.c_str());
cout << "Reading stereo factors" << endl;
//read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation
//read stereo measurements and construct smart factors
SmartFactor::shared_ptr factor(new SmartFactor());
size_t current_l = 3; // TODO: Fix me!
size_t current_l = 3; // hardcoded landmark ID from first measurement
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(current_l != l) {
graph.push_back(factor);
@ -104,14 +100,6 @@ int main(int argc, char** argv){
current_l = l;
}
factor->add(Point2(uL,v), Symbol('x',x), model, 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));