89 lines
2.9 KiB
C++
89 lines
2.9 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 SFMdata.h
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* @brief Simple example for the structure-from-motion problems
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* @author Duy-Nguyen Ta
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*/
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/**
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* A structure-from-motion example with landmarks, default arguments give:
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* - The landmarks form a 10 meter cube
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* - The robot rotates around the landmarks, always facing towards the cube
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* Passing function argument allows to specify an initial position, a pose
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* increment and step count.
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*/
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#pragma once
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// As this is a full 3D problem, we will use Pose3 variables to represent the
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// camera positions and Point3 variables (x, y, z) to represent the landmark
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// coordinates. Camera observations of landmarks (i.e. pixel coordinates) will
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// be stored as Point2 (x, y).
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Pose3.h>
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// We will also need a camera object to hold calibration information and perform
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// projections.
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/PinholeCamera.h>
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namespace gtsam {
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/// Create a set of ground-truth landmarks
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std::vector<Point3> createPoints() {
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std::vector<Point3> points;
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points.push_back(Point3(10.0, 10.0, 10.0));
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points.push_back(Point3(-10.0, 10.0, 10.0));
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points.push_back(Point3(-10.0, -10.0, 10.0));
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points.push_back(Point3(10.0, -10.0, 10.0));
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points.push_back(Point3(10.0, 10.0, -10.0));
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points.push_back(Point3(-10.0, 10.0, -10.0));
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points.push_back(Point3(-10.0, -10.0, -10.0));
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points.push_back(Point3(10.0, -10.0, -10.0));
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return points;
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}
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/**
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* Create a set of ground-truth poses
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* Default values give a circular trajectory, radius 30 at pi/4 intervals,
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* always facing the circle center
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*/
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std::vector<Pose3> createPoses(
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const Pose3& init = Pose3(Rot3::Ypr(M_PI_2, 0, -M_PI_2), {30, 0, 0}),
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const Pose3& delta = Pose3(Rot3::Ypr(0, -M_PI_4, 0),
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{sin(M_PI_4) * 30, 0, 30 * (1 - sin(M_PI_4))}),
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int steps = 8) {
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std::vector<Pose3> poses;
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poses.reserve(steps);
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poses.push_back(init);
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for (int i = 1; i < steps; ++i) {
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poses.push_back(poses[i - 1].compose(delta));
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}
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return poses;
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}
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/**
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* Create regularly spaced poses with specified radius and number of cameras
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*/
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std::vector<Pose3> posesOnCircle(int num_cameras = 8, double radius = 30) {
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const Pose3 init(Rot3::Ypr(M_PI_2, 0, -M_PI_2), {radius, 0, 0});
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const double theta = M_PI / num_cameras;
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const Pose3 delta(
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Rot3::Ypr(0, -2 * theta, 0),
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{sin(2 * theta) * radius, 0, radius * (1 - sin(2 * theta))});
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return createPoses(init, delta, num_cameras);
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}
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} // namespace gtsam
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