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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

69
examples/CameraResectioning.cpp
View File

@ -17,17 +17,16 @@
*/
#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/geometry/SimpleCamera.h>
#include <boost/make_shared.hpp>
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> {
typedef NoiseModelFactor1<Pose3> Base;
@ -37,38 +36,33 @@ class ResectioningFactor: public NoiseModelFactor1<Pose3> {
Point2 p_; // 2D measurement of the 3D point
public:
ResectioningFactor(const SharedNoiseModel& model, const Symbol& key,
/// 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) {
}
virtual ~ResectioningFactor() {}
ADD_CLONE_NONLINEAR_FACTOR(ResectioningFactor)
virtual Vector evaluateError(const Pose3& X, boost::optional<Matrix&> H = boost::none) const {
SimpleCamera camera(*K_, X);
/// evaluate the error
virtual Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
boost::none) const {
SimpleCamera camera(*K_, pose);
Point2 reprojectionError(camera.project(P_, H) - p_);
return reprojectionError.vector();
}
};
/*******************************************************************************/
/**
* Camera: f = 1.0, Image: 100x100, center: 50.0, 50.0
/*******************************************************************************
* Camera: f = 1, Image: 100x100, center: 50, 50.0
* Pose (ground truth): (Xw, -Yw, -Zw, [0,0,2.0]')
* Known landmarks:
* 3D Points: (10,10,0) (-10,10,0) (-10,-10,0) (10,-10,0)
* Perfect measurements:
* 2D Point: (55,45) (45,45) (45,55) (55,55)
*/
*******************************************************************************/
int main(int argc, char* argv[]) {
/* read camera intrinsic parameters */
shared_ptrK calib(new Cal3_S2(1.0, 1.0, 0, 50.0, 50.0));
/* create keys for variables */
// we have only 1 variable to solve: the camera pose
Symbol X('x',1);
shared_ptrK calib(new Cal3_S2(1, 1, 0, 50, 50));
/* 1. create graph */
NonlinearFactorGraph graph;
@ -77,28 +71,27 @@ int main(int argc, char* argv[]) {
// add measurement factors
SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5));
boost::shared_ptr<ResectioningFactor> factor;
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);
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)));
/* 3. Create an initial estimate for the camera pose */
Values initial;
initial.insert(X, Pose3(Rot3(1.,0.,0.,
0.,-1.,0.,
0.,0.,-1.), Point3(0.,0.,2.0)));
initial.insert(X(1),
Pose3(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(0, 0, 2)));
/* 4. Optimize the graph using Levenberg-Marquardt*/
Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
result.print("Final result: ");
result.print("Final result:\n");
return 0;
}