1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
12/**
13 * @file timeSFMBALsmart.cpp
14 * @brief time SFM with BAL file, SmartProjectionFactor
15 * @author Frank Dellaert
16 * @date Feb 26, 2016
17 */
18
19#include "timeSFMBAL.h"
20
21#include <gtsam/slam/SmartProjectionFactor.h>
22#include <gtsam/geometry/Cal3Bundler.h>
23#include <gtsam/geometry/PinholeCamera.h>
24#include <gtsam/geometry/Point3.h>
25
26using namespace std;
27using namespace gtsam;
28
29typedef PinholeCamera<Cal3Bundler> Camera;
30typedef SmartProjectionFactor<Camera> SfmFactor;
31
32int main(int argc, char* argv[]) {
33 // parse options and read BAL file
34 SfmData db = preamble(argc, argv);
35
36 // Add smart factors to graph
37 NonlinearFactorGraph graph;
38 for (size_t j = 0; j < db.numberTracks(); j++) {
39 auto smartFactor = std::make_shared<SfmFactor>(args&: gNoiseModel);
40 for (const SfmMeasurement& m : db.tracks[j].measurements) {
41 size_t i = m.first;
42 Point2 z = m.second;
43 smartFactor->add(measured: z, key: C(j: i));
44 }
45 graph.push_back(factor: smartFactor);
46 }
47
48 Values initial;
49 size_t i = 0;
50 gUseSchur = false;
51 for (const SfmCamera& camera : db.cameras)
52 initial.insert(j: C(j: i++), val: camera);
53
54 return optimize(db, graph, initial);
55}
56