75 lines
3.0 KiB
C++
75 lines
3.0 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 SteroVOExample.cpp
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* @brief A stereo visual odometry example
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* @date May 25, 2014
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* @author Stephen Camp
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*/
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/**
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* A 3D stereo visual odometry example
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* - robot starts at origin
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* -moves forward 1 meter
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* -takes stereo readings on three landmarks
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*/
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/inference/Key.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/nonlinear/Marginals.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/geometry/Cal3_S2Stereo.h>
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#include <gtsam/slam/StereoFactor.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/inference/Symbol.h>
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using namespace std;
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using namespace gtsam;
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int main(int argc, char** argv){
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//create graph object, add first pose at origin with key '1'
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NonlinearFactorGraph graph;
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Pose3 first_pose = Pose3();
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graph.push_back(NonlinearEquality<Pose3>(1, first_pose));
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//create factor noise model with 3 sigmas of value 1
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const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
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//create stereo camera calibration object with .2m between cameras
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const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2));
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//create and add stereo factors between first pose (key value 1) and the three landmarks
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graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(520, 480, 440), model, 1, 3, K));
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graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(120, 80, 440), model, 1, 4, K));
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graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(320, 280, 140), model, 1, 5, K));
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//create and add stereo factors between second pose and the three landmarks
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graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(570, 520, 490), model, 2, 3, K));
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graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(70, 20, 490), model, 2, 4, K));
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graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(320, 270, 115), model, 2, 5, K));
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//create Values object to contain initial estimates of camera poses and landmark locations
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Values initial_estimate = Values();
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//create and add iniital estimates
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initial_estimate.insert(1, first_pose);
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initial_estimate.insert(2, Pose3(Rot3(), Point3(0.1, -0.1, 1.1)));
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initial_estimate.insert(3, Point3(1, 1, 5));
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initial_estimate.insert(4, Point3(-1, 1, 5));
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initial_estimate.insert(5, Point3(0, -0.5, 5));
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//create Levenberg-Marquardt optimizer for resulting factor graph, optimize
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LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
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Values result = optimizer.optimize();
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result.print("Final result:\n");
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return 0;
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} |