예제 #1
0
void processSBA(ros::NodeHandle node)
{
    // Create publisher topics.
    ros::Publisher cam_marker_pub = node.advertise<visualization_msgs::Marker>("/sba/cameras", 1);
    ros::Publisher point_marker_pub = node.advertise<visualization_msgs::Marker>("/sba/points", 1);
    ros::spinOnce();
    
    //ROS_INFO("Sleeping for 2 seconds to publish topics...");
    ros::Duration(0.2).sleep();
    
    // Create an empty SBA system.
    SysSBA sys;
    
    setupSBA(sys);
    
    // Provide some information about the data read in.
    unsigned int projs = 0;
    // For debugging.
    for (int i = 0; i < (int)sys.tracks.size(); i++)
    {
      projs += sys.tracks[i].projections.size();
    }
    ROS_INFO("SBA Nodes: %d, Points: %d, Projections: %d", (int)sys.nodes.size(),
      (int)sys.tracks.size(), projs);
        
    //ROS_INFO("Sleeping for 5 seconds to publish pre-SBA markers.");
    //ros::Duration(5.0).sleep();
        
    // Perform SBA with 10 iterations, an initial lambda step-size of 1e-3, 
    // and using CSPARSE.
    sys.doSBA(20, 1e-4, SBA_SPARSE_CHOLESKY);
    
    int npts = sys.tracks.size();

    ROS_INFO("Bad projs (> 10 pix): %d, Cost without: %f", 
        (int)sys.countBad(10.0), sqrt(sys.calcCost(10.0)/npts));
    ROS_INFO("Bad projs (> 5 pix): %d, Cost without: %f", 
        (int)sys.countBad(5.0), sqrt(sys.calcCost(5.0)/npts));
    ROS_INFO("Bad projs (> 2 pix): %d, Cost without: %f", 
        (int)sys.countBad(2.0), sqrt(sys.calcCost(2.0)/npts));
    
    ROS_INFO("Cameras (nodes): %d, Points: %d",
        (int)sys.nodes.size(), (int)sys.tracks.size());
        
    // Publish markers
    drawGraph(sys, cam_marker_pub, point_marker_pub);
    ros::spinOnce();
    //ROS_INFO("Sleeping for 2 seconds to publish post-SBA markers.");
    ros::Duration(0.2).sleep();
}
int main(int argc, char **argv)
{
  char *fin;

  if (argc < 2)
    {
      cout << "Arguments are:  <input filename>" << endl;
      return -1;
    }

  fin = argv[1];

  SysSBA sys;
  readGraphFile(fin, sys);
  //  writeGraphFile("sba-out.graph", sys);

  double cost = sys.calcCost();
  cout << "Initial squared cost: " << cost << endl;

  sys.nFixed = 1;
  sys.printStats();
  sys.csp.useCholmod = true;

  //  sys.doSBA(10,1e-4,SBA_SPARSE_CHOLESKY);
  sys.doSBA(10,1e-4,SBA_BLOCK_JACOBIAN_PCG,1e-8,200);

  return 0;
}
예제 #3
0
void processSBA(ros::NodeHandle node)
{
    // Create publisher topics.
    ros::Publisher cam_marker_pub = node.advertise<visualization_msgs::Marker>("/sba/cameras", 1);
    ros::Publisher point_marker_pub = node.advertise<visualization_msgs::Marker>("/sba/points", 1);
    ros::spinOnce();
    
    //ROS_INFO("Sleeping for 2 seconds to publish topics...");
    ros::Duration(0.2).sleep();
    
    // Create an empty SBA system.
    SysSBA sys;
    
    setupSBA(sys);
    
    // Provide some information about the data read in.
    unsigned int projs = 0;
    // For debugging.
    for (int i = 0; i < (int)sys.tracks.size(); i++)
    {
      projs += sys.tracks[i].projections.size();
    }
    ROS_INFO("SBA Nodes: %d, Points: %d, Projections: %d", (int)sys.nodes.size(),
      (int)sys.tracks.size(), projs);
        
    //ROS_INFO("Sleeping for 5 seconds to publish pre-SBA markers.");
    //ros::Duration(5.0).sleep();
        
    // Perform SBA with 10 iterations, an initial lambda step-size of 1e-3, 
    // and using CSPARSE.
    sys.doSBA(1, 1e-3, SBA_SPARSE_CHOLESKY);
    
    int npts = sys.tracks.size();

    ROS_INFO("Bad projs (> 10 pix): %d, Cost without: %f", 
        (int)sys.countBad(10.0), sqrt(sys.calcCost(10.0)/npts));
    ROS_INFO("Bad projs (> 5 pix): %d, Cost without: %f", 
        (int)sys.countBad(5.0), sqrt(sys.calcCost(5.0)/npts));
    ROS_INFO("Bad projs (> 2 pix): %d, Cost without: %f", 
        (int)sys.countBad(0.5), sqrt(sys.calcCost(2.0)/npts));
    
    ROS_INFO("Cameras (nodes): %d, Points: %d",
        (int)sys.nodes.size(), (int)sys.tracks.size());
        
    // Publish markers
    drawGraph(sys, cam_marker_pub, point_marker_pub, 1, sys.tracks.size()/2);
    ros::spinOnce();


    //ROS_INFO("Sleeping for 2 seconds to publish post-SBA markers.");
    ros::Duration(0.5).sleep();

    for (int j=0; j<30; j+=3)
      {
        if (!ros::ok())
	        break;
	      sys.doSBA(1, 0, SBA_SPARSE_CHOLESKY);
	      drawGraph(sys, cam_marker_pub, point_marker_pub, 1, sys.tracks.size()/2);
	      ros::spinOnce();
	      ros::Duration(0.5).sleep();
      }


#ifdef USE_PPL
    // reset covariances and continue
    for (int i = 0; i < points.size(); i++)
    {
      int nn = points.size();
      Matrix3d covar;
      double cv = 0.3;
      covar << cv, 0, 0,
	0, cv, 0, 
	0, 0, cv;
      sys.setProjCovariance(0, i+nn, covar);
      sys.setProjCovariance(1, i, covar);
    }
#endif

    for (int j=0; j<30; j+=3)
      {
        if (!ros::ok())
	        break;
	      sys.doSBA(1, 0, SBA_SPARSE_CHOLESKY);
	      drawGraph(sys, cam_marker_pub, point_marker_pub, 1, sys.tracks.size()/2);
	      ros::spinOnce();
	      ros::Duration(0.5).sleep();
      }

}