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Switched to TriangulationFactors: huge improvement

release/4.3a0
dellaert 2014-03-02 15:51:02 -05:00
parent 5c466a7914
commit b1013163e7
2 changed files with 10 additions and 20 deletions
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1
gtsam_unstable/geometry/tests/testTriangulation.cpp
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@ -16,7 +16,6 @@
* Author: cbeall3
*/
#include <gtsam_unstable/geometry/TriangulationFactor.h>
#include <gtsam_unstable/geometry/triangulation.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <CppUnitLite/TestHarness.h>

29
gtsam_unstable/geometry/triangulation.h
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@ -18,10 +18,10 @@
#pragma once
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam_unstable/geometry/TriangulationFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam/slam/PriorFactor.h>
#include <vector>
@ -56,9 +56,6 @@ GTSAM_UNSTABLE_EXPORT Point3 triangulateDLT(
const std::vector<Matrix>& projection_matrices,
const std::vector<Point2>& measurements, double rank_tol);
// Frank says: putting priors on poses and then optimizing is a terrible idea: we turn a 3dof problem into a much more difficult problem
// We should have a projectionfactor that knows pose is fixed
///
/**
* Create a factor graph with projection factors from poses and one calibration
@ -81,10 +78,9 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6));
for (size_t i = 0; i < measurements.size(); i++) {
const Pose3& pose_i = poses[i];
graph.push_back(GenericProjectionFactor<Pose3, Point3, CALIBRATION> //
(measurements[i], unit2, i, landmarkKey, sharedCal));
graph.push_back(PriorFactor<Pose3>(i, pose_i, prior_model));
values.insert(i, pose_i);
PinholeCamera<CALIBRATION> camera_i(pose_i, *sharedCal);
graph.push_back(TriangulationFactor<CALIBRATION> //
(camera_i, measurements[i], unit2, landmarkKey));
}
return std::make_pair(graph, values);
}
@ -110,13 +106,8 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6));
for (size_t i = 0; i < measurements.size(); i++) {
const PinholeCamera<CALIBRATION>& camera_i = cameras[i];
boost::shared_ptr<CALIBRATION> // Seems wasteful to create new object
sharedCal(new CALIBRATION(camera_i.calibration()));
graph.push_back(GenericProjectionFactor<Pose3, Point3, CALIBRATION> //
(measurements[i], unit2, i, landmarkKey, sharedCal));
const Pose3& pose_i = camera_i.pose();
graph.push_back(PriorFactor<Pose3>(i, pose_i, prior_model));
values.insert(i, pose_i);
graph.push_back(TriangulationFactor<CALIBRATION> //
(camera_i, measurements[i], unit2, landmarkKey));
}
return std::make_pair(graph, values);
}
@ -251,9 +242,9 @@ Point3 triangulatePoint3(
typedef PinholeCamera<CALIBRATION> Camera;
std::vector<Matrix> projection_matrices;
BOOST_FOREACH(const Camera& camera, cameras)
projection_matrices.push_back(
camera.calibration().K()
* sub(camera.pose().inverse().matrix(), 0, 3, 0, 4));
projection_matrices.push_back(
camera.calibration().K()
* sub(camera.pose().inverse().matrix(), 0, 3, 0, 4));
Point3 point = triangulateDLT(projection_matrices, measurements, rank_tol);