92 lines
3.5 KiB
C++
92 lines
3.5 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file VisualSLAMData.cpp
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* @brief Generate ground-truth simulated data for VisualSLAM examples
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* @author Duy-Nguyen Ta
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*/
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#pragma once
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#include <vector>
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#include <map>
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#include <gtsam/geometry/SimpleCamera.h>
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/* ************************************************************************* */
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/**
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* Simulated data for the visual SLAM examples:
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* - 8 Landmarks: (10,10,10) (-10,10,10) (-10,-10,10) (10,-10,10)
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* (10,10,-10) (-10,10,-10) (-10,-10,-10) (10,-10,-10)
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* - n 90-deg-FoV cameras with the same calibration parameters:
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* f = 50.0, Image: 100x100, center: 50.0, 50.0
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* and ground-truth poses on a circle around the landmarks looking at the world's origin:
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* Rot3(-sin(theta), 0, -cos(theta),
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* cos(theta), 0, -sin(theta),
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* 0, -1, 0 ),
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* Point3(r*cos(theta), r*sin(theta), 0.0)
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* (theta += 2*pi/N)
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* - Measurement noise: 1 pix sigma
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*/
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struct VisualSLAMExampleData {
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gtsam::shared_ptrK sK; // camera calibration parameters
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std::vector<gtsam::Pose3> poses; // ground-truth camera poses
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gtsam::Pose3 odometry; // ground-truth odometry between 2 consecutive poses (simulated data for iSAM)
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std::vector<gtsam::Point3> landmarks; // ground-truth landmarks
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std::map<int, vector<gtsam::Point2> > z; // 2D measurements of landmarks in each camera frame
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gtsam::SharedDiagonal noiseZ; // measurement noise (noiseModel::Isotropic::Sigma(2, 5.0f));
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gtsam::SharedDiagonal noiseX; // noise for camera poses
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gtsam::SharedDiagonal noiseL; // noise for landmarks
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static const VisualSLAMExampleData generate() {
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VisualSLAMExampleData data;
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// Landmarks (ground truth)
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data.landmarks.push_back(gtsam::Point3(10.0,10.0,10.0));
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data.landmarks.push_back(gtsam::Point3(-10.0,10.0,10.0));
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data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,10.0));
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data.landmarks.push_back(gtsam::Point3(10.0,-10.0,10.0));
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data.landmarks.push_back(gtsam::Point3(10.0,10.0,-10.0));
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data.landmarks.push_back(gtsam::Point3(-10.0,10.0,-10.0));
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data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
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data.landmarks.push_back(gtsam::Point3(10.0,-10.0,-10.0));
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// Camera calibration parameters
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data.sK = gtsam::shared_ptrK(new gtsam::Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
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// n camera poses
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int n = 8;
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double theta = 0.0;
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double r = 30.0;
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for (int i=0; i<n; ++i) {
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theta += 2*M_PI/n;
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data.poses.push_back(gtsam::Pose3(
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gtsam::Rot3(-sin(theta), 0.0, -cos(theta),
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cos(theta), 0.0, -sin(theta),
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0.0, -1.0, 0.0),
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gtsam::Point3(r*cos(theta), r*sin(theta), 0.0)));
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}
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data.odometry = data.poses[0].between(data.poses[1]);
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// Simulated measurements with Gaussian noise
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data.noiseZ = gtsam::sharedSigma(2, 1.0);
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for (size_t i=0; i<data.poses.size(); ++i) {
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for (size_t j=0; j<data.landmarks.size(); ++j) {
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gtsam::SimpleCamera camera(data.poses[i], *data.sK);
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data.z[i].push_back(camera.project(data.landmarks[j]) + gtsam::Point2(data.noiseZ->sample()));
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}
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}
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data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.01, 0.01, 0.01, 0.1, 0.1, 0.1));
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data.noiseL = gtsam::sharedSigma(3, 0.1);
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return data;
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}
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};
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