SfmData.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/SfmTrack.h>
 
#include <string>
#include <vector>
 
namespace gtsam {
 
typedef PinholeCamera<Cal3Bundler> SfmCamera;
 
struct GTSAM_EXPORT SfmData {
  std::vector<SfmCamera> cameras;  
 
  std::vector<SfmTrack> tracks;  
 
 
  static SfmData FromBundlerFile(const std::string& filename);
 
  static SfmData FromBalFile(const std::string& filename);
 
 
  void addTrack(const SfmTrack& t) { tracks.push_back(t); }
 
  void addCamera(const SfmCamera& cam) { cameras.push_back(cam); }
 
  size_t numberTracks() const { return tracks.size(); }
 
  size_t numberCameras() const { return cameras.size(); }
 
  const SfmTrack& track(size_t idx) const { return tracks[idx]; }
 
  const SfmCamera& camera(size_t idx) const { return cameras[idx]; }
 
  const std::vector<SfmCamera>& cameraList() const { return cameras; }
  const std::vector<SfmTrack>& trackList() const { return tracks; }
 
  NonlinearFactorGraph generalSfmFactors(
      const SharedNoiseModel& model = noiseModel::Isotropic::Sigma(2,
                                                                   1.0)) const;
 
  NonlinearFactorGraph sfmFactorGraph(
      const SharedNoiseModel& model = noiseModel::Isotropic::Sigma(2, 1.0),
      std::optional<size_t> fixedCamera = 0,
      std::optional<size_t> fixedPoint = 0) const;
 
 
  void print(const std::string& s = "") const;
 
  bool equals(const SfmData& sfmData, double tol = 1e-9) const;
 
 
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_NVP(cameras);
    ar& BOOST_SERIALIZATION_NVP(tracks);
  }
#endif
 
 
};
 
template <>
struct traits<SfmData> : public Testable<SfmData> {};
 
GTSAM_EXPORT SfmData readBal(const std::string& filename);
 
GTSAM_EXPORT bool writeBAL(const std::string& filename, const SfmData& data);
 
GTSAM_EXPORT bool writeBALfromValues(const std::string& filename,
                                     const SfmData& data, const Values& values);
 
GTSAM_EXPORT Pose3 openGL2gtsam(const Rot3& R, double tx, double ty, double tz);
 
GTSAM_EXPORT Pose3 gtsam2openGL(const Rot3& R, double tx, double ty, double tz);
 
GTSAM_EXPORT Pose3 gtsam2openGL(const Pose3& PoseGTSAM);
 
GTSAM_EXPORT Values initialCamerasEstimate(const SfmData& db);
 
GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfmData& db);
 
}  // namespace gtsam