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copy the nonlinearfactor graph for two independent tests

release/4.3a0
zhaoyang 2015-02-18 23:58:53 -05:00
parent 3b1c6b1b1e
commit c2a223ddbb
1 changed files with 16 additions and 10 deletions
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26
examples/SFMExample_bal_COLAMD_METIS.cpp
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@ -48,7 +48,7 @@ int main (int argc, char* argv[]) {
cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras(); cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
// Create a factor graph // Create a factor graph
NonlinearFactorGraph graph; NonlinearFactorGraph graph_for_COLAMD;
// We share *one* noiseModel between all projection factors // We share *one* noiseModel between all projection factors
noiseModel::Isotropic::shared_ptr noise = noiseModel::Isotropic::shared_ptr noise =
@ -60,15 +60,15 @@ int main (int argc, char* argv[]) {
BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
size_t i = m.first; size_t i = m.first;
Point2 uv = m.second; Point2 uv = m.second;
graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P graph_for_COLAMD.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
} }
j += 1; j += 1;
} }
// Add a prior on pose x1. This indirectly specifies where the origin is. // Add a prior on pose x1. This indirectly specifies where the origin is.
// and a prior on the position of the first landmark to fix the scale // and a prior on the position of the first landmark to fix the scale
graph.push_back(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1))); graph_for_COLAMD.push_back(PriorFactor<SfM_Camera>(C(0), mydata.cameras[0], noiseModel::Isotropic::Sigma(9, 0.1)));
graph.push_back(PriorFactor<Point3> (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1))); graph_for_COLAMD.push_back(PriorFactor<Point3> (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1)));
// Create initial estimate // Create initial estimate
Values initial; Values initial;
@ -76,7 +76,11 @@ int main (int argc, char* argv[]) {
BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera); BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p); BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p);
/** ---------------------------------------------------**/ NonlinearFactorGraph graph_for_METIS = graph_for_COLAMD.clone();
/** --------------- COMPARISON -----------------------**/
/** ----------------------------------------------------**/
/* With COLAMD, optimize the graph and print the results */ /* With COLAMD, optimize the graph and print the results */
cout << "Optimize with COLAMD..." << endl; cout << "Optimize with COLAMD..." << endl;
@ -87,13 +91,13 @@ int main (int argc, char* argv[]) {
LevenbergMarquardtParams params_using_COLAMD; LevenbergMarquardtParams params_using_COLAMD;
params_using_COLAMD.setVerbosity("ERROR"); params_using_COLAMD.setVerbosity("ERROR");
params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph); params_using_COLAMD.ordering = Ordering::Create(Ordering::COLAMD, graph_for_COLAMD);
double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC;
tic_t = clock(); tic_t = clock();
LevenbergMarquardtOptimizer lm(graph, initial, params_using_COLAMD); LevenbergMarquardtOptimizer lm(graph_for_COLAMD, initial, params_using_COLAMD);
result_COLAMD = lm.optimize(); result_COLAMD = lm.optimize();
tic_t = clock(); tic_t = clock();
@ -105,12 +109,14 @@ int main (int argc, char* argv[]) {
cout << e.what(); cout << e.what();
} }
cout << endl << endl;
// To see the error, check SFMExample_bal.cpp file // To see the error, check SFMExample_bal.cpp file
//cout << "final error: " << graph.error(result_COLAMD) << endl; //cout << "final error: " << graph.error(result_COLAMD) << endl;
/** ---------------------------------------------------**/ /** ---------------------------------------------------**/
/* with METIS, optimize the graph and print the results */ /* with METIS, optimize the graph and print the results */
cout << "Optimize with METIS" << endl; cout << "Optimize with METIS" << endl;
Values results_METIS; Values results_METIS;
@ -119,13 +125,13 @@ int main (int argc, char* argv[]) {
LevenbergMarquardtParams params_using_METIS; LevenbergMarquardtParams params_using_METIS;
params_using_METIS.setVerbosity("ERROR"); params_using_METIS.setVerbosity("ERROR");
params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph); params_using_METIS.ordering = Ordering::Create(Ordering::METIS, graph_for_METIS);
double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC; double toc_t = (clock() - tic_t)/CLOCKS_PER_SEC;
tic_t = clock(); tic_t = clock();
LevenbergMarquardtOptimizer lm(graph, initial, params_using_METIS); LevenbergMarquardtOptimizer lm(graph_for_METIS, initial, params_using_METIS);
results_METIS = lm.optimize(); results_METIS = lm.optimize();
tic_t = clock(); tic_t = clock();