Merge pull request #753 from borglab/feature/essential-mat-with-approx-k

Adding factor which considers the essential matrix and camera calibration as variable
borglab · Jun 21, 2021 · aec2cf0 · aec2cf0
2 parents 3b4eeeb + 01561bc
commit aec2cf0
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Showing 4 changed files with 632 additions and 231 deletions.
diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
@@ -15,8 +15,8 @@
  * @author  Frank Dellaert
  */
 
-#include <gtsam/slam/dataset.h>
 #include <gtsam/geometry/CalibratedCamera.h>
+#include <gtsam/slam/dataset.h>
 
 #include <boost/assign/std/vector.hpp>
 
@@ -26,22 +26,16 @@ using namespace gtsam;
 
 /* ************************************************************************* */
 
-void createExampleBALFile(const string& filename, const vector<Point3>& P,
-    const Pose3& pose1, const Pose3& pose2, const Cal3Bundler& K =
-        Cal3Bundler()) {
-
+void createExampleBALFile(const string& filename, const vector<Point3>& points,
+                          const Pose3& pose1, const Pose3& pose2,
+                          const Cal3Bundler& K = Cal3Bundler()) {
   // Class that will gather all data
   SfmData data;
-
-  // Create two cameras
-  Rot3 aRb = Rot3::Yaw(M_PI_2);
-  Point3 aTb(0.1, 0, 0);
-  Pose3 identity, aPb(aRb, aTb);
+  // Create two cameras and add them to data
   data.cameras.push_back(SfmCamera(pose1, K));
   data.cameras.push_back(SfmCamera(pose2, K));
 
-  for(const Point3& p: P) {
-
+  for (const Point3& p : points) {
     // Create the track
     SfmTrack track;
     track.p = p;
@@ -51,7 +45,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
 
     // Project points in both cameras
     for (size_t i = 0; i < 2; i++)
-    track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
+      track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
 
     // Add track to data
     data.tracks.push_back(track);
@@ -63,49 +57,66 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
 /* ************************************************************************* */
 
 void create5PointExample1() {
-
   // Create two cameras poses
   Rot3 aRb = Rot3::Yaw(M_PI_2);
   Point3 aTb(0.1, 0, 0);
   Pose3 pose1, pose2(aRb, aTb);
 
   // Create test data, we need at least 5 points
-  vector<Point3> P;
-  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
-  Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
+  vector<Point3> points = {
+      {0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, {0, 0.5, 0.5}, {0, -0.5, 0.5}};
 
   // Assumes example is run in ${GTSAM_TOP}/build/examples
-  const string filename = "../../examples/data/5pointExample1.txt";
-  createExampleBALFile(filename, P, pose1, pose2);
+  const string filename = "../../examples/Data/5pointExample1.txt";
+  createExampleBALFile(filename, points, pose1, pose2);
 }
 
 /* ************************************************************************* */
 
 void create5PointExample2() {
-
   // Create two cameras poses
   Rot3 aRb = Rot3::Yaw(M_PI_2);
   Point3 aTb(10, 0, 0);
   Pose3 pose1, pose2(aRb, aTb);
 
   // Create test data, we need at least 5 points
-  vector<Point3> P;
-  P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100), //
-  Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80), Point3(20, -50, 80);
+  vector<Point3> points = {{0, 0, 100},  {-10, 0, 100}, {10, 0, 100},  //
+                           {0, 50, 50},  {0, -50, 50},  {-20, 0, 80},  //
+                           {20, -50, 80}};
 
   // Assumes example is run in ${GTSAM_TOP}/build/examples
-  const string filename = "../../examples/data/5pointExample2.txt";
+  const string filename = "../../examples/Data/5pointExample2.txt";
   Cal3Bundler K(500, 0, 0);
-  createExampleBALFile(filename, P, pose1, pose2,K);
+  createExampleBALFile(filename, points, pose1, pose2, K);
 }
 
 /* ************************************************************************* */
 
+void create18PointExample1() {
+  // Create two cameras poses
+  Rot3 aRb = Rot3::Yaw(M_PI_2);
+  Point3 aTb(0.1, 0, 0);
+  Pose3 pose1, pose2(aRb, aTb);
+
+  // Create test data, we need 15 points
+  vector<Point3> points = {
+      {0, 0, 1},         {-0.1, 0, 1},      {0.1, 0, 1},       //
+      {0, 0.5, 0.5},     {0, -0.5, 0.5},    {-1, -0.5, 2},     //
+      {-1, 0.5, 2},      {0.25, -0.5, 1.5}, {0.25, 0.5, 1.5},  //
+      {-0.1, -0.5, 0.5}, {0.1, -0.5, 1},    {0.1, 0.5, 1},     //
+      {-0.1, 0, 0.5},    {-0.1, 0.5, 0.5},  {0, 0, 0.5},       //
+      {0.1, -0.5, 0.5},  {0.1, 0, 0.5},     {0.1, 0.5, 0.5}};
+
+  // Assumes example is run in ${GTSAM_TOP}/build/examples
+  const string filename = "../../examples/Data/18pointExample1.txt";
+  createExampleBALFile(filename, points, pose1, pose2);
+}
+
 int main(int argc, char* argv[]) {
   create5PointExample1();
   create5PointExample2();
+  create18PointExample1();
   return 0;
 }
 
 /* ************************************************************************* */
-
diff --git a/examples/Data/18pointExample1.txt b/examples/Data/18pointExample1.txt
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