diff --git a/examples/Data/dubrovnik-3-7-pre-rewritten.txt b/examples/Data/dubrovnik-3-7-pre-rewritten.txt index db59a7e0b..7dea43c9e 100644 --- a/examples/Data/dubrovnik-3-7-pre-rewritten.txt +++ b/examples/Data/dubrovnik-3-7-pre-rewritten.txt @@ -1,80 +1,80 @@ 3 7 19 0 0 -385.989990234375 387.1199951171875 -1 0 -38.439998626708984 492.1199951171875 -2 0 -667.91998291015625 123.11000061035156 -0 1 383.8800048828125 -15.299989700317383 -1 1 559.75 -106.15000152587891 +1 0 -38.439998626708984375 492.1199951171875 +2 0 -667.91998291015625 123.1100006103515625 +0 1 383.8800048828125 -15.299989700317382812 +1 1 559.75 -106.15000152587890625 0 2 591.54998779296875 136.44000244140625 1 2 863.8599853515625 -23.469970703125 -2 2 494.72000122070312 112.51999664306641 +2 2 494.720001220703125 112.51999664306640625 0 3 592.5 125.75 1 3 861.08001708984375 -35.219970703125 -2 3 498.54000854492187 101.55999755859375 -0 4 348.72000122070312 558.3800048828125 -1 4 776.030029296875 483.52999877929687 -2 4 7.7800288200378418 326.35000610351562 +2 3 498.540008544921875 101.55999755859375 +0 4 348.720001220703125 558.3800048828125 +1 4 776.030029296875 483.529998779296875 +2 4 7.7800288200378417969 326.350006103515625 0 5 14.010009765625 96.420013427734375 -1 5 207.1300048828125 118.36000061035156 -0 6 202.75999450683594 340.989990234375 +1 5 207.1300048828125 118.3600006103515625 +0 6 202.7599945068359375 340.989990234375 1 6 543.18011474609375 294.80999755859375 -2 6 -58.419979095458984 110.83000183105469 +2 6 -58.419979095458984375 110.8300018310546875 - 0.29656188120312943 --0.03531835438428587 - 0.31252101755032047 - 0.47230274932665989 --0.35723408637441134 - -2.0517704282499576 + 0.29656188120312942935 +-0.035318354384285870207 + 0.31252101755032046793 +0.47230274932665988752 +-0.3572340863744113415 +-2.0517704282499575896 1430.031982421875 --7.5572756941255648e-008 -3.2377570134516087e-014 +-7.5572756941255647689e-08 +3.2377570134516087119e-14 - 0.28532097290364833 --0.27699838355720618 -0.048601170006498565 - -1.2598695987678452 --0.04906379852479037 - -1.9586867140054638 + 0.28532097381985194184 +-0.27699838370789808817 +0.048601169984112867206 + -1.2598695987143850861 +-0.049063798188844320869 + -1.9586867140445654023 1432.137451171875 --7.317191830225056e-008 -3.1759419042137055e-014 +-7.3171918302250560373e-08 +3.1759419042137054801e-14 -0.057491325683772541 - 0.34853090049579966 - 0.47985129303736057 - 8.196390428906339 - 6.5146840788718787 --3.8392804395897406 +0.057491325683772541433 + 0.34853090049579965592 + 0.47985129303736057116 + 8.1963904289063389541 + 6.5146840788718787252 +-3.8392804395897406344 1572.047119140625 --1.5962623223231276e-008 --1.6507904730136101e-014 +-1.5962623223231275915e-08 +-1.6507904730136101212e-14 --11.317351620610928 -3.3594874875767187 --42.755222607849106 +-11.317351620610928364 +3.3594874875767186673 +-42.755222607849105998 -4.2648515634753199 --8.4629358700849355 --22.252086323427271 +4.2648515634753199066 +-8.4629358700849355301 +-22.252086323427270997 -10.996977688149537 --9.2123370180278048 --29.206739014051372 +10.996977688149536689 +-9.2123370180278048025 +-29.206739014051372294 -10.935342607054865 --9.4338917557810742 --29.1122639091755 +10.935342607054865383 +-9.4338917557810741954 +-29.112263909175499776 -15.71402493540176 -1.3745079651566265 --59.286834979937105 +15.714024935401759819 +1.3745079651566265433 +-59.286834979937104606 --1.3624227800805182 --4.1979357415396095 --21.034430148188399 +-1.3624227800805182031 +-4.1979357415396094666 +-21.034430148188398846 -6.7690173115899297 --4.7352452433700787 --53.605307875695893 +6.7690173115899296974 +-4.7352452433700786827 +-53.605307875695892506 diff --git a/examples/StereoVOExample.cpp b/examples/StereoVOExample.cpp deleted file mode 100644 index 8a04d13a3..000000000 --- a/examples/StereoVOExample.cpp +++ /dev/null @@ -1,75 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file SteroVOExample.cpp - * @brief A stereo visual odometry example - * @date May 25, 2014 - * @author Stephen Camp - */ - -/** - * A 3D stereo visual odometry example - * - robot starts at origin - * -moves forward 1 meter - * -takes stereo readings on three landmarks - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - - -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(1, first_pose)); - - //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(StereoPoint2(520, 480, 440), model, 1, 3, K)); - graph.push_back(GenericStereoFactor(StereoPoint2(120, 80, 440), model, 1, 4, K)); - graph.push_back(GenericStereoFactor(StereoPoint2(320, 280, 140), model, 1, 5, K)); - //create and add stereo factors between second pose and the three landmarks - graph.push_back(GenericStereoFactor(StereoPoint2(570, 520, 490), model, 2, 3, K)); - graph.push_back(GenericStereoFactor(StereoPoint2(70, 20, 490), model, 2, 4, K)); - graph.push_back(GenericStereoFactor(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(); - //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(); - - result.print("Final result:\n"); - - return 0; -} \ No newline at end of file diff --git a/examples/StereoVOExample_large.cpp b/examples/StereoVOExample_large.cpp deleted file mode 100644 index 04eed035a..000000000 --- a/examples/StereoVOExample_large.cpp +++ /dev/null @@ -1,116 +0,0 @@ -/* ---------------------------------------------------------------------------- - -* GTSAM Copyright 2010, Georgia Tech Research Corporation, -* Atlanta, Georgia 30332-0415 -* All Rights Reserved -* Authors: Frank Dellaert, et al. (see THANKS for the full author list) - -* See LICENSE for the license information - -* -------------------------------------------------------------------------- */ - -/** -* @file SteroVOExample.cpp -* @brief A stereo visual odometry example -* @date May 25, 2014 -* @author Stephen Camp -*/ - - -/** - * A 3D stereo visual odometry example - * - robot starts at origin - * -moves forward, taking periodic stereo measurements - * -takes stereo readings of many landmarks - */ - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include - -using namespace std; -using namespace gtsam; - -int main(int argc, char** argv){ - - NonlinearFactorGraph graph; - const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1); - Values initial_estimate = Values(); - vector 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"; - - //read camera calibration info from file - ifstream calibration_file(calibration_loc); - getline(calibration_file,read_string); - istringstream string_parser(read_string); - cout << "Reading calibration info" << endl; - while(string_parser){ - if(!getline(string_parser,parse_string,' ')) break; - read_vector.push_back(atof(parse_string.c_str())); - } - //create stereo camera calibration object - const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(read_vector[0],read_vector[1],read_vector[2],read_vector[3],read_vector[4],read_vector[5])); - - ifstream pose_file(pose_loc); - cout << "Reading camera poses" << endl; - int pose_id; - MatrixRowMajor m(4,4); - //read camera pose parameters and use to make initial estimates of camera poses - while (pose_file >> pose_id) { - for (int i = 0; i < 16; i++) { - pose_file >> m.data()[i]; - } - initial_estimate.insert(Symbol('x', pose_id), Pose3(m)); - } - - float x, l, 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(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(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(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 - graph.push_back(NonlinearEquality(Symbol('x',1),first_pose)); - - cout << "Optimizing" << endl; - //create Levenberg-Marquardt optimizer to solve the initial factor graph estimate - LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate); - Values result = optimizer.optimize(); - - cout << "Final result sample:" << endl; - Values pose_values = result.filter(); - pose_values.print("Final camera poses:\n"); - - return 0; -} \ No newline at end of file