convert_sba_slam3d.cpp File Reference

#include <iostream>
#include <fstream>
#include "g2o/stuff/macros.h"
#include "g2o/stuff/command_args.h"
#include "g2o/core/optimizable_graph.h"
#include "g2o/types/sba/types_sba.h"
#include "g2o/types/slam3d/parameter_camera.h"
#include "g2o/types/slam3d/edge_se3_pointxyz_disparity.h"

Include dependency graph for convert_sba_slam3d.cpp:

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Functions
int	main (int argc, char **argv)

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 42 of file convert_sba_slam3d.cpp.

References g2o::OptimizableGraph::addEdge(), g2o::OptimizableGraph::addParameter(), g2o::OptimizableGraph::addVertex(), g2o::SBACam::baseline, g2o::HyperGraph::edges(), g2o::BaseVertex< D, T >::estimate(), g2o::HyperGraph::Vertex::id(), g2o::BaseEdge< D, E >::information(), g2o::SBACam::Kcam, g2o::OptimizableGraph::load(), g2o::BaseEdge< D, E >::measurement(), g2o::CommandArgs::paramLeftOver(), g2o::CommandArgs::parseArgs(), g2o::SE3Quat::rotation(), g2o::OptimizableGraph::save(), g2o::BaseVertex< D, T >::setEstimate(), g2o::Parameter::setId(), g2o::OptimizableGraph::Vertex::setId(), g2o::BaseEdge< D, E >::setInformation(), g2o::ParameterCamera::setKcam(), g2o::EdgeSE3PointXYZDisparity::setMeasurement(), g2o::OptimizableGraph::Edge::setParameterId(), g2o::SE3Quat::translation(), g2o::OptimizableGraph::vertex(), g2o::HyperGraph::Edge::vertices(), and g2o::HyperGraph::vertices().

{
  string inputFilename;
  string outputFilename;
  // command line parsing
  CommandArgs commandLineArguments;
  commandLineArguments.paramLeftOver("gm2dl-input", inputFilename, "", "gm2dl file which will be processed");
  commandLineArguments.paramLeftOver("gm2dl-output", outputFilename, "", "name of the output file");

  commandLineArguments.parseArgs(argc, argv);

  OptimizableGraph inputGraph;
  bool loadStatus = inputGraph.load(inputFilename.c_str());
  if (! loadStatus) {
    cerr << "Error while loading input data" << endl;
    return 1;
  }

  OptimizableGraph outputGraph;

  // process all the vertices first
  double fx = -1;
  double baseline = -1;
  bool firstCam = true;
  for (OptimizableGraph::VertexIDMap::const_iterator it = inputGraph.vertices().begin(); it != inputGraph.vertices().end(); ++it) {
    if (dynamic_cast<VertexCam*>(it->second)) {
      VertexCam* v = static_cast<VertexCam*>(it->second);
      if (firstCam) {
        firstCam = false;
        g2o::ParameterCamera* camParams = new g2o::ParameterCamera;
        camParams->setId(0);
        const SBACam& c = v->estimate();
        baseline = c.baseline;
        fx = c.Kcam(0,0);
        camParams->setKcam(c.Kcam(0,0), c.Kcam(1,1), c.Kcam(0,2), c.Kcam(1,2));
        outputGraph.addParameter(camParams);
      }

      VertexSE3* ov = new VertexSE3;
      ov->setId(v->id());
      Eigen::Isometry3d p;
      p = v->estimate().rotation();
      p.translation() = v->estimate().translation();
      ov->setEstimate(p);
      if (! outputGraph.addVertex(ov)) {
        assert(0 && "Failure adding camera vertex");
      }
    }
    else if (dynamic_cast<VertexSBAPointXYZ*>(it->second)) {
      VertexSBAPointXYZ* v = static_cast<VertexSBAPointXYZ*>(it->second);

      VertexPointXYZ* ov = new VertexPointXYZ;
      ov->setId(v->id());
      ov->setEstimate(v->estimate());
      if (! outputGraph.addVertex(ov)) {
        assert(0 && "Failure adding camera vertex");
      }
    }
  }
  
  for (OptimizableGraph::EdgeSet::const_iterator it = inputGraph.edges().begin(); it != inputGraph.edges().end(); ++it) {
    if (dynamic_cast<EdgeProjectP2SC*>(*it)) {
      EdgeProjectP2SC* e = static_cast<EdgeProjectP2SC*>(*it);

      EdgeSE3PointXYZDisparity* oe = new EdgeSE3PointXYZDisparity;
      oe->vertices()[0] = outputGraph.vertex(e->vertices()[1]->id());
      oe->vertices()[1] = outputGraph.vertex(e->vertices()[0]->id());

      double kx = e->measurement().x();
      double ky = e->measurement().y();
      double disparity = kx - e->measurement()(2);

      oe->setMeasurement(Eigen::Vector3d(kx, ky, disparity / (fx * baseline)));
      oe->setInformation(e->information()); // TODO convert information matrix
      oe->setParameterId(0,0);
      if (! outputGraph.addEdge(oe)) {
        assert(0 && "error adding edge");
      }
    }
  }

  cout << "Vertices in/out:\t" << inputGraph.vertices().size() << " " << outputGraph.vertices().size() << endl;
  cout << "Edges in/out:\t" << inputGraph.edges().size() << " " << outputGraph.edges().size() << endl;

  cout << "Writing output ... " << flush;
  outputGraph.save(outputFilename.c_str());
  cout << "done." << endl;
  return 0;
}