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@dellaert
dellaert committed Jan 31, 2022
1 parent a4fc68f commit 762e809
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Showing 21 changed files with 75 additions and 74 deletions.
2 changes: 1 addition & 1 deletion examples/SFMExampleExpressions_bal.cpp
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Expand Up @@ -49,7 +49,7 @@ int main(int argc, char* argv[]) {
SfmData mydata;
readBAL(filename, mydata);
cout << boost::format("read %1% tracks on %2% cameras\n") %
mydata.nrTracks() % mydata.nrCameras();
mydata.numberTracks() % mydata.numberCameras();

// Create a factor graph
ExpressionFactorGraph graph;
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2 changes: 1 addition & 1 deletion examples/SFMExample_bal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ int main (int argc, char* argv[]) {
// Load the SfM data from file
SfmData mydata;
readBAL(filename, mydata);
cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.nrTracks() % mydata.nrCameras();
cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.numberTracks() % mydata.numberCameras();

// Create a factor graph
NonlinearFactorGraph graph;
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4 changes: 2 additions & 2 deletions examples/SFMExample_bal_COLAMD_METIS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ int main(int argc, char* argv[]) {
SfmData mydata;
readBAL(filename, mydata);
cout << boost::format("read %1% tracks on %2% cameras\n") %
mydata.nrTracks() % mydata.nrCameras();
mydata.numberTracks() % mydata.numberCameras();

// Create a factor graph
NonlinearFactorGraph graph;
Expand Down Expand Up @@ -131,7 +131,7 @@ int main(int argc, char* argv[]) {

cout << "Time comparison by solving " << filename << " results:" << endl;
cout << boost::format("%1% point tracks and %2% cameras\n") %
mydata.nrTracks() % mydata.nrCameras()
mydata.numberTracks() % mydata.numberCameras()
<< endl;

tictoc_print_();
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43 changes: 22 additions & 21 deletions gtsam/sfm/SfmData.cpp
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Expand Up @@ -32,26 +32,27 @@ using gtsam::symbol_shorthand::X;

/* ************************************************************************** */
void SfmData::print(const std::string &s) const {
std::cout << "Number of cameras = " << nrCameras() << std::endl;
std::cout << "Number of tracks = " << nrTracks() << std::endl;
std::cout << "Number of cameras = " << cameras.size() << std::endl;
std::cout << "Number of tracks = " << tracks.size() << std::endl;
}

/* ************************************************************************** */
bool SfmData::equals(const SfmData &sfmData, double tol) const {
// check number of cameras and tracks
if (nrCameras() != sfmData.nrCameras() || nrTracks() != sfmData.nrTracks()) {
if (cameras.size() != sfmData.cameras.size() ||
tracks.size() != sfmData.tracks.size()) {
return false;
}

// check each camera
for (size_t i = 0; i < nrCameras(); ++i) {
for (size_t i = 0; i < cameras.size(); ++i) {
if (!camera(i).equals(sfmData.camera(i), tol)) {
return false;
}
}

// check each track
for (size_t j = 0; j < nrTracks(); ++j) {
for (size_t j = 0; j < tracks.size(); ++j) {
if (!track(j).equals(sfmData.track(j), tol)) {
return false;
}
Expand Down Expand Up @@ -264,19 +265,19 @@ bool writeBAL(const std::string &filename, SfmData &data) {

// Write the number of camera poses and 3D points
size_t nrObservations = 0;
for (size_t j = 0; j < data.nrTracks(); j++) {
nrObservations += data.tracks[j].nrMeasurements();
for (size_t j = 0; j < data.tracks.size(); j++) {
nrObservations += data.tracks[j].numberMeasurements();
}

// Write observations
os << data.nrCameras() << " " << data.nrTracks() << " " << nrObservations
<< endl;
os << data.cameras.size() << " " << data.tracks.size() << " "
<< nrObservations << endl;
os << endl;

for (size_t j = 0; j < data.nrTracks(); j++) { // for each 3D point j
for (size_t j = 0; j < data.tracks.size(); j++) { // for each 3D point j
const SfmTrack &track = data.tracks[j];

for (size_t k = 0; k < track.nrMeasurements();
for (size_t k = 0; k < track.numberMeasurements();
k++) { // for each observation of the 3D point j
size_t i = track.measurements[k].first; // camera id
double u0 = data.cameras[i].calibration().px();
Expand All @@ -301,7 +302,7 @@ bool writeBAL(const std::string &filename, SfmData &data) {
os << endl;

// Write cameras
for (size_t i = 0; i < data.nrCameras(); i++) { // for each camera
for (size_t i = 0; i < data.cameras.size(); i++) { // for each camera
Pose3 poseGTSAM = data.cameras[i].pose();
Cal3Bundler cameraCalibration = data.cameras[i].calibration();
Pose3 poseOpenGL = gtsam2openGL(poseGTSAM);
Expand All @@ -316,7 +317,7 @@ bool writeBAL(const std::string &filename, SfmData &data) {
}

// Write the points
for (size_t j = 0; j < data.nrTracks(); j++) { // for each 3D point j
for (size_t j = 0; j < data.tracks.size(); j++) { // for each 3D point j
Point3 point = data.tracks[j].p;
os << point.x() << endl;
os << point.y() << endl;
Expand All @@ -336,33 +337,33 @@ bool writeBALfromValues(const std::string &filename, const SfmData &data,

// Store poses or cameras in SfmData
size_t nrPoses = values.count<Pose3>();
if (nrPoses == dataValues.nrCameras()) { // we only estimated camera poses
for (size_t i = 0; i < dataValues.nrCameras(); i++) { // for each camera
if (nrPoses == dataValues.cameras.size()) { // we only estimated camera poses
for (size_t i = 0; i < dataValues.cameras.size(); i++) { // for each camera
Pose3 pose = values.at<Pose3>(X(i));
Cal3Bundler K = dataValues.cameras[i].calibration();
Camera camera(pose, K);
dataValues.cameras[i] = camera;
}
} else {
size_t nrCameras = values.count<Camera>();
if (nrCameras == dataValues.nrCameras()) { // we only estimated camera
// poses and calibration
for (size_t i = 0; i < nrCameras; i++) { // for each camera
Key cameraKey = i; // symbol('c',i);
if (nrCameras == dataValues.cameras.size()) { // we only estimated camera
// poses and calibration
for (size_t i = 0; i < nrCameras; i++) { // for each camera
Key cameraKey = i; // symbol('c',i);
Camera camera = values.at<Camera>(cameraKey);
dataValues.cameras[i] = camera;
}
} else {
cout << "writeBALfromValues: different number of cameras in "
"SfM_dataValues (#cameras "
<< dataValues.nrCameras() << ") and values (#cameras " << nrPoses
<< dataValues.cameras.size() << ") and values (#cameras " << nrPoses
<< ", #poses " << nrCameras << ")!!" << endl;
return false;
}
}

// Store 3D points in SfmData
size_t nrPoints = values.count<Point3>(), nrTracks = dataValues.nrTracks();
size_t nrPoints = values.count<Point3>(), nrTracks = dataValues.tracks.size();
if (nrPoints != nrTracks) {
cout << "writeBALfromValues: different number of points in "
"SfM_dataValues (#points= "
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4 changes: 2 additions & 2 deletions gtsam/sfm/SfmData.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,10 @@ struct SfmData {
void addCamera(const SfmCamera& cam) { cameras.push_back(cam); }

/// The number of reconstructed 3D points
size_t nrTracks() const { return tracks.size(); }
size_t numberTracks() const { return tracks.size(); }

/// The number of cameras
size_t nrCameras() const { return cameras.size(); }
size_t numberCameras() const { return cameras.size(); }

/// The track formed by series of landmark measurements
SfmTrack track(size_t idx) const { return tracks[idx]; }
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4 changes: 2 additions & 2 deletions gtsam/sfm/SfmTrack.cpp
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Expand Up @@ -39,13 +39,13 @@ bool SfmTrack::equals(const SfmTrack& sfmTrack, double tol) const {
}

// compare size of vectors for measurements and siftIndices
if (nrMeasurements() != sfmTrack.nrMeasurements() ||
if (numberMeasurements() != sfmTrack.numberMeasurements() ||
siftIndices.size() != sfmTrack.siftIndices.size()) {
return false;
}

// compare measurements (order sensitive)
for (size_t idx = 0; idx < nrMeasurements(); ++idx) {
for (size_t idx = 0; idx < numberMeasurements(); ++idx) {
SfmMeasurement measurement = measurements[idx];
SfmMeasurement otherMeasurement = sfmTrack.measurements[idx];

Expand Down
2 changes: 1 addition & 1 deletion gtsam/sfm/SfmTrack.h
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ struct SfmTrack {
}

/// Total number of measurements in this track
size_t nrMeasurements() const { return measurements.size(); }
size_t numberMeasurements() const { return measurements.size(); }

/// Get the measurement (camera index, Point2) at pose index `idx`
const SfmMeasurement& measurement(size_t idx) const {
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2 changes: 1 addition & 1 deletion gtsam/sfm/ShonanAveraging.h
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Expand Up @@ -165,7 +165,7 @@ class GTSAM_EXPORT ShonanAveraging {
size_t nrUnknowns() const { return nrUnknowns_; }

/// Return number of measurements
size_t nrMeasurements() const { return measurements_.size(); }
size_t numberMeasurements() const { return measurements_.size(); }

/// k^th binary measurement
const BinaryMeasurement<Rot> &measurement(size_t k) const {
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10 changes: 5 additions & 5 deletions gtsam/sfm/sfm.i
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Expand Up @@ -16,7 +16,7 @@ class SfmTrack {

std::vector<pair<size_t, gtsam::Point2>> measurements;

size_t nrMeasurements() const;
size_t numberMeasurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;
void addMeasurement(size_t idx, const gtsam::Point2& m);
Expand All @@ -31,8 +31,8 @@ class SfmTrack {
#include <gtsam/sfm/SfmData.h>
class SfmData {
SfmData();
size_t nrCameras() const;
size_t nrTracks() const;
size_t numberCameras() const;
size_t numberTracks() const;
gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
gtsam::SfmTrack track(size_t idx) const;
void addTrack(const gtsam::SfmTrack& t);
Expand Down Expand Up @@ -136,7 +136,7 @@ class ShonanAveraging2 {

// Query properties
size_t nrUnknowns() const;
size_t nrMeasurements() const;
size_t numberMeasurements() const;
gtsam::Rot2 measured(size_t i);
gtsam::KeyVector keys(size_t i);

Expand Down Expand Up @@ -184,7 +184,7 @@ class ShonanAveraging3 {

// Query properties
size_t nrUnknowns() const;
size_t nrMeasurements() const;
size_t numberMeasurements() const;
gtsam::Rot3 measured(size_t i);
gtsam::KeyVector keys(size_t i);

Expand Down
32 changes: 16 additions & 16 deletions gtsam/sfm/tests/testSfmData.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,10 @@ TEST(dataSet, Balbianello) {
CHECK(readBundler(filename, mydata));

// Check number of things
EXPECT_LONGS_EQUAL(5, mydata.nrCameras());
EXPECT_LONGS_EQUAL(544, mydata.nrTracks());
EXPECT_LONGS_EQUAL(5, mydata.numberCameras());
EXPECT_LONGS_EQUAL(544, mydata.numberTracks());
const SfmTrack& track0 = mydata.tracks[0];
EXPECT_LONGS_EQUAL(3, track0.nrMeasurements());
EXPECT_LONGS_EQUAL(3, track0.numberMeasurements());

// Check projection of a given point
EXPECT_LONGS_EQUAL(0, track0.measurements[0].first);
Expand All @@ -60,10 +60,10 @@ TEST(dataSet, readBAL_Dubrovnik) {
CHECK(readBAL(filename, mydata));

// Check number of things
EXPECT_LONGS_EQUAL(3, mydata.nrCameras());
EXPECT_LONGS_EQUAL(7, mydata.nrTracks());
EXPECT_LONGS_EQUAL(3, mydata.numberCameras());
EXPECT_LONGS_EQUAL(7, mydata.numberTracks());
const SfmTrack& track0 = mydata.tracks[0];
EXPECT_LONGS_EQUAL(3, track0.nrMeasurements());
EXPECT_LONGS_EQUAL(3, track0.numberMeasurements());

// Check projection of a given point
EXPECT_LONGS_EQUAL(0, track0.measurements[0].first);
Expand Down Expand Up @@ -119,16 +119,16 @@ TEST(dataSet, writeBAL_Dubrovnik) {
CHECK(readBAL(filenameToWrite, writtenData));

// Check that what we read is the same as what we wrote
EXPECT_LONGS_EQUAL(readData.nrCameras(), writtenData.nrCameras());
EXPECT_LONGS_EQUAL(readData.nrTracks(), writtenData.nrTracks());
EXPECT_LONGS_EQUAL(readData.numberCameras(), writtenData.numberCameras());
EXPECT_LONGS_EQUAL(readData.numberTracks(), writtenData.numberTracks());

for (size_t i = 0; i < readData.nrCameras(); i++) {
for (size_t i = 0; i < readData.numberCameras(); i++) {
PinholeCamera<Cal3Bundler> expectedCamera = writtenData.cameras[i];
PinholeCamera<Cal3Bundler> actualCamera = readData.cameras[i];
EXPECT(assert_equal(expectedCamera, actualCamera));
}

for (size_t j = 0; j < readData.nrTracks(); j++) {
for (size_t j = 0; j < readData.numberTracks(); j++) {
// check point
SfmTrack expectedTrack = writtenData.tracks[j];
SfmTrack actualTrack = readData.tracks[j];
Expand All @@ -143,7 +143,7 @@ TEST(dataSet, writeBAL_Dubrovnik) {
EXPECT(assert_equal(expectedRGB, actualRGB));

// check measurements
for (size_t k = 0; k < actualTrack.nrMeasurements(); k++) {
for (size_t k = 0; k < actualTrack.numberMeasurements(); k++) {
EXPECT_LONGS_EQUAL(expectedTrack.measurements[k].first,
actualTrack.measurements[k].first);
EXPECT(assert_equal(expectedTrack.measurements[k].second,
Expand All @@ -163,11 +163,11 @@ TEST(dataSet, writeBALfromValues_Dubrovnik) {
Pose3(Rot3::Ypr(-M_PI / 10, 0., -M_PI / 10), Point3(0.3, 0.1, 0.3));

Values value;
for (size_t i = 0; i < readData.nrCameras(); i++) { // for each camera
for (size_t i = 0; i < readData.numberCameras(); i++) { // for each camera
Pose3 pose = poseChange.compose(readData.cameras[i].pose());
value.insert(X(i), pose);
}
for (size_t j = 0; j < readData.nrTracks(); j++) { // for each point
for (size_t j = 0; j < readData.numberTracks(); j++) { // for each point
Point3 point = poseChange.transformFrom(readData.tracks[j].p);
value.insert(P(j), point);
}
Expand All @@ -182,10 +182,10 @@ TEST(dataSet, writeBALfromValues_Dubrovnik) {

// Check that the reprojection errors are the same and the poses are correct
// Check number of things
EXPECT_LONGS_EQUAL(3, writtenData.nrCameras());
EXPECT_LONGS_EQUAL(7, writtenData.nrTracks());
EXPECT_LONGS_EQUAL(3, writtenData.numberCameras());
EXPECT_LONGS_EQUAL(7, writtenData.numberTracks());
const SfmTrack& track0 = writtenData.tracks[0];
EXPECT_LONGS_EQUAL(3, track0.nrMeasurements());
EXPECT_LONGS_EQUAL(3, track0.numberMeasurements());

// Check projection of a given point
EXPECT_LONGS_EQUAL(0, track0.measurements[0].first);
Expand Down
2 changes: 1 addition & 1 deletion gtsam/slam/SmartFactorBase.h
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ class GTSAM_EXPORT SmartFactorBase: public NonlinearFactor {
*/
template<class SFM_TRACK>
void add(const SFM_TRACK& trackToAdd) {
for (size_t k = 0; k < trackToAdd.nrMeasurements(); k++) {
for (size_t k = 0; k < trackToAdd.numberMeasurements(); k++) {
this->measured_.push_back(trackToAdd.measurements[k].second);
this->keys_.push_back(trackToAdd.measurements[k].first);
}
Expand Down
6 changes: 3 additions & 3 deletions gtsam/slam/tests/testEssentialMatrixFactor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -632,14 +632,14 @@ TEST(EssentialMatrixFactor2, extraMinimization) {
// We start with a factor graph and add constraints to it
// Noise sigma is 1, assuming pixel measurements
NonlinearFactorGraph graph;
for (size_t i = 0; i < data.nrTracks(); i++)
for (size_t i = 0; i < data.numberTracks(); i++)
graph.emplace_shared<EssentialMatrixFactor2>(100, i, pA(i), pB(i), model2,
K);

// Check error at ground truth
Values truth;
truth.insert(100, trueE);
for (size_t i = 0; i < data.nrTracks(); i++) {
for (size_t i = 0; i < data.numberTracks(); i++) {
Point3 P1 = data.tracks[i].p;
truth.insert(i, double(baseline / P1.z()));
}
Expand All @@ -654,7 +654,7 @@ TEST(EssentialMatrixFactor2, extraMinimization) {
// Check result
EssentialMatrix actual = result.at<EssentialMatrix>(100);
EXPECT(assert_equal(trueE, actual, 1e-1));
for (size_t i = 0; i < data.nrTracks(); i++)
for (size_t i = 0; i < data.numberTracks(); i++)
EXPECT_DOUBLES_EQUAL(truth.at<double>(i), result.at<double>(i), 1e-1);

// Check error at result
Expand Down
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