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use make_shared, cleanup

release/4.3a0
Frank Dellaert 2012-06-03 19:50:04 +00:00
parent 720db709be
commit 73d1f0f6e0
1 changed files with 52 additions and 59 deletions
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examples/CameraResectioning.cpp
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@ -17,88 +17,81 @@
*/ */
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <boost/make_shared.hpp>
using namespace gtsam; using namespace gtsam;
using symbol_shorthand::X;
/** /**
* Unary factor for the pose. * Unary factor on the unknown pose, resulting from meauring the projection of
* a known 3D point in the image
*/ */
class ResectioningFactor: public NoiseModelFactor1<Pose3> { class ResectioningFactor: public NoiseModelFactor1<Pose3> {
typedef NoiseModelFactor1<Pose3> Base; typedef NoiseModelFactor1<Pose3> Base;
shared_ptrK K_; // camera's intrinsic parameters shared_ptrK K_; // camera's intrinsic parameters
Point3 P_; // 3D point on the calibration rig Point3 P_; // 3D point on the calibration rig
Point2 p_; // 2D measurement of the 3D point Point2 p_; // 2D measurement of the 3D point
public: public:
ResectioningFactor(const SharedNoiseModel& model, const Symbol& key,
const shared_ptrK& calib, const Point2& p, const Point3& P) :
Base(model, key), K_(calib), P_(P), p_(p) {
}
virtual ~ResectioningFactor() {} /// Construct factor given known point P and its projection p
ResectioningFactor(const SharedNoiseModel& model, const Key& key,
const shared_ptrK& calib, const Point2& p, const Point3& P) :
Base(model, key), K_(calib), P_(P), p_(p) {
}
ADD_CLONE_NONLINEAR_FACTOR(ResectioningFactor) /// evaluate the error
virtual Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
virtual Vector evaluateError(const Pose3& X, boost::optional<Matrix&> H = boost::none) const { boost::none) const {
SimpleCamera camera(*K_, X); SimpleCamera camera(*K_, pose);
Point2 reprojectionError(camera.project(P_, H) - p_); Point2 reprojectionError(camera.project(P_, H) - p_);
return reprojectionError.vector(); return reprojectionError.vector();
} }
}; };
/*******************************************************************************/ /*******************************************************************************
/** * Camera: f = 1, Image: 100x100, center: 50, 50.0
* Camera: f = 1.0, Image: 100x100, center: 50.0, 50.0
* Pose (ground truth): (Xw, -Yw, -Zw, [0,0,2.0]') * Pose (ground truth): (Xw, -Yw, -Zw, [0,0,2.0]')
* Known landmarks: * Known landmarks:
* 3D Points: (10,10,0) (-10,10,0) (-10,-10,0) (10,-10,0) * 3D Points: (10,10,0) (-10,10,0) (-10,-10,0) (10,-10,0)
* Perfect measurements: * Perfect measurements:
* 2D Point: (55,45) (45,45) (45,55) (55,55) * 2D Point: (55,45) (45,45) (45,55) (55,55)
*/ *******************************************************************************/
int main(int argc, char* argv[]) { int main(int argc, char* argv[]) {
/* read camera intrinsic parameters */ /* read camera intrinsic parameters */
shared_ptrK calib(new Cal3_S2(1.0, 1.0, 0, 50.0, 50.0)); shared_ptrK calib(new Cal3_S2(1, 1, 0, 50, 50));
/* create keys for variables */ /* 1. create graph */
// we have only 1 variable to solve: the camera pose NonlinearFactorGraph graph;
Symbol X('x',1);
/* 1. create graph */ /* 2. add factors to the graph */
NonlinearFactorGraph graph; // add measurement factors
SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5));
boost::shared_ptr<ResectioningFactor> factor;
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(55, 45), Point3(10, 10, 0)));
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(45, 45), Point3(-10, 10, 0)));
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(45, 55), Point3(-10, -10, 0)));
graph.push_back(
boost::make_shared<ResectioningFactor>(measurementNoise, X(1), calib,
Point2(55, 55), Point3(10, -10, 0)));
/* 2. add factors to the graph */ /* 3. Create an initial estimate for the camera pose */
// add measurement factors Values initial;
SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5)); initial.insert(X(1),
boost::shared_ptr<ResectioningFactor> factor; Pose3(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(0, 0, 2)));
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(55.0, 45.0), Point3(10.0, 10.0, 0.0)));
graph.push_back(factor);
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(45.0, 45.0), Point3(-10.0, 10.0, 0.0)));
graph.push_back(factor);
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(45.0, 55.0), Point3(-10.0, -10.0, 0.0)));
graph.push_back(factor);
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(55.0, 55.0), Point3(10.0, -10.0, 0.0)));
graph.push_back(factor);
/* 3. Create an initial estimate for the camera pose */ /* 4. Optimize the graph using Levenberg-Marquardt*/
Values initial; Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
initial.insert(X, Pose3(Rot3(1.,0.,0., result.print("Final result:\n");
0.,-1.,0.,
0.,0.,-1.), Point3(0.,0.,2.0)));
/* 4. Optimize the graph using Levenberg-Marquardt*/ return 0;
Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
result.print("Final result: ");
return 0;
} }