Feature/wrap sfm data

examples/CreateSFMExampleData.cpp

@@ -51,7 +51,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
 
     // Project points in both cameras
     for (size_t i = 0; i < 2; i++)
-    track.measurements.push_back(make_pair(i, data.cameras[i].project(p)));
+    track.Measurements.push_back(make_pair(i, data.cameras[i].project(p)));
 
     // Add track to data
     data.tracks.push_back(track);

examples/SFMExampleExpressions_bal.cpp

@@ -77,7 +77,7 @@ int main(int argc, char* argv[]) {
   for (const SfmTrack& track : mydata.tracks) {
     // Leaf expression for j^th point
     Point3_ point_('p', j);
-    for (const SfmMeasurement& m : track.measurements) {
+    for (const SfmMeasurement& m : track.Measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       // Leaf expression for i^th camera

examples/SFMExample_bal.cpp

@@ -55,7 +55,7 @@ int main (int argc, char* argv[]) {
   // Add measurements to the factor graph
   size_t j = 0;
   for(const SfmTrack& track: mydata.tracks) {
-    for(const SfmMeasurement& m: track.measurements) {
+    for(const SfmMeasurement& m: track.Measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       graph.emplace_shared<MyFactor>(uv, noise, C(i), P(j)); // note use of shorthand symbols C and P

examples/SFMExample_bal_COLAMD_METIS.cpp

@@ -59,7 +59,7 @@ int main(int argc, char* argv[]) {
   // Add measurements to the factor graph
   size_t j = 0;
   for (const SfmTrack& track : mydata.tracks) {
-    for (const SfmMeasurement& m : track.measurements) {
+    for (const SfmMeasurement& m : track.Measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       graph.emplace_shared<MyFactor>(

gtsam/gtsam.i

@@ -2759,21 +2759,35 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
 };
 
 #include <gtsam/slam/dataset.h>
+// Dummy classes, for MATLAB wrappers
+class SfmMeasurement{};
+class SiftIndex{ };
+class SfmMeasurements{};
+class SfmCamera{};
+
 class SfmTrack {
+  SfmTrack();
   Point3 point3() const;
   size_t number_measurements() const;
-  pair<size_t, gtsam::Point2> measurement(size_t idx) const;
-  pair<size_t, size_t> siftIndex(size_t idx) const;
+  void setP(gtsam::Point3& p_);
+  gtsam::SfmMeasurement measurement(size_t idx) const;
+  gtsam::SiftIndex siftIndex(size_t idx) const;
+  void add_measurement(pair<size_t, gtsam::Point2> m);
+  SfmMeasurements& measurements();
 };
 
 class SfmData {
+  SfmData();
   size_t number_cameras() const;
   size_t number_tracks() const;
   gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
   gtsam::SfmTrack track(size_t idx) const;
+  void add_track(gtsam::SfmTrack t);
+  void add_camera(gtsam::SfmCamera cam);
 };
 
 gtsam::SfmData readBal(string filename);
+bool writeBAL(string filename, gtsam::SfmData& data);
 gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
 gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
 

gtsam/slam/SmartFactorBase.h

@@ -144,8 +144,8 @@ class SmartFactorBase: public NonlinearFactor {
   template<class SFM_TRACK>
   void add(const SFM_TRACK& trackToAdd) {
     for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
-      this->measured_.push_back(trackToAdd.measurements[k].second);
-      this->keys_.push_back(trackToAdd.measurements[k].first);
+      this->measured_.push_back(trackToAdd.Measurements[k].second);
+      this->keys_.push_back(trackToAdd.Measurements[k].first);
     }
   }
 

gtsam/slam/dataset.cpp

@@ -1052,13 +1052,13 @@ bool readBundler(const string &filename, SfmData &data) {
     size_t nvisible = 0;
     is >> nvisible;
 
-    track.measurements.reserve(nvisible);
+    track.Measurements.reserve(nvisible);
     track.siftIndices.reserve(nvisible);
     for (size_t k = 0; k < nvisible; k++) {
       size_t cam_idx = 0, point_idx = 0;
       float u, v;
       is >> cam_idx >> point_idx >> u >> v;
-      track.measurements.emplace_back(cam_idx, Point2(u, -v));
+      track.Measurements.emplace_back(cam_idx, Point2(u, -v));
       track.siftIndices.emplace_back(cam_idx, point_idx);
     }
 
@@ -1089,7 +1089,7 @@ bool readBAL(const string &filename, SfmData &data) {
     size_t i = 0, j = 0;
     float u, v;
     is >> i >> j >> u >> v;
-    data.tracks[j].measurements.emplace_back(i, Point2(u, -v));
+    data.tracks[j].Measurements.emplace_back(i, Point2(u, -v));
   }
 
   // Get the information for the camera poses
@@ -1163,7 +1163,7 @@ bool writeBAL(const string &filename, SfmData &data) {
 
     for (size_t k = 0; k < track.number_measurements();
          k++) { // for each observation of the 3D point j
-      size_t i = track.measurements[k].first; // camera id
+      size_t i = track.Measurements[k].first; // camera id
       double u0 = data.cameras[i].calibration().u0();
       double v0 = data.cameras[i].calibration().v0();
 
@@ -1173,9 +1173,9 @@ bool writeBAL(const string &filename, SfmData &data) {
              << endl;
       }
 
-      double pixelBALx = track.measurements[k].second.x() -
+      double pixelBALx = track.Measurements[k].second.x() -
                          u0; // center of image is the origin
-      double pixelBALy = -(track.measurements[k].second.y() -
+      double pixelBALy = -(track.Measurements[k].second.y() -
                            v0); // center of image is the origin
       Point2 pixelMeasurement(pixelBALx, pixelBALy);
       os << i /*camera id*/ << " " << j /*point id*/ << " "

gtsam/slam/dataset.h

@@ -210,6 +210,7 @@ GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);
 
 /// A measurement with its camera index
 typedef std::pair<size_t, Point2> SfmMeasurement;
+typedef std::vector<SfmMeasurement> SfmMeasurements;
 
 /// SfmTrack
 typedef std::pair<size_t, size_t> SiftIndex;
@@ -219,15 +220,21 @@ struct SfmTrack {
   SfmTrack(): p(0,0,0) {}
   Point3 p; ///< 3D position of the point
   float r, g, b; ///< RGB color of the 3D point
-  std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v))
+  std::vector<SfmMeasurement> Measurements; ///< The 2D image projections (id,(u,v))
   std::vector<SiftIndex> siftIndices;
+
   /// Total number of measurements in this track
   size_t number_measurements() const {
-    return measurements.size();
+    return Measurements.size();
   }
+  /// Set 3D point
+  void setP(Point3& p_){
+    p = p_;
+  }
+
   /// Get the measurement (camera index, Point2) at pose index `idx`
   SfmMeasurement measurement(size_t idx) const {
-    return measurements[idx];
+    return Measurements[idx];
   }
   /// Get the SIFT feature index corresponding to the measurement at `idx`
   SiftIndex siftIndex(size_t idx) const {
@@ -236,13 +243,23 @@ struct SfmTrack {
   Point3 point3() const {
     return p;
   }
+  void add_measurement(pair<size_t, gtsam::Point2> m) {
+    Measurements.push_back(m);
+  }
+
+  SfmMeasurements& measurements() {
+    return Measurements;
+  }
+
 };
 
+
 /// Define the structure for the camera poses
 typedef PinholeCamera<Cal3Bundler> SfmCamera;
 
 /// Define the structure for SfM data
 struct SfmData {
+  std::vector<SfmMeasurement> Measurements;
   std::vector<SfmCamera> cameras; ///< Set of cameras
   std::vector<SfmTrack> tracks; ///< Sparse set of points
   size_t number_cameras() const {
@@ -260,6 +277,14 @@ struct SfmData {
   SfmTrack track(size_t idx) const {
     return tracks[idx];
   }
+
+  void add_track(SfmTrack t) {
+    tracks.push_back(t);
+  }
+
+  void add_camera(SfmCamera cam){
+    cameras.push_back(cam);
+  }
 };
 
 /**

gtsam/slam/tests/testDataset.cpp

@@ -166,9 +166,9 @@ TEST( dataSet, Balbianello)
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
-  EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
+  EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
   const SfmCamera& camera0 = mydata.cameras[0];
-  Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
+  Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
   EXPECT(assert_equal(expected,actual,1));
 }
 
@@ -476,9 +476,9 @@ TEST( dataSet, readBAL_Dubrovnik)
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
-  EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
+  EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
   const SfmCamera& camera0 = mydata.cameras[0];
-  Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
+  Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
   EXPECT(assert_equal(expected,actual,12));
 }
 
@@ -557,8 +557,8 @@ TEST( dataSet, writeBAL_Dubrovnik)
 
     // check measurements
     for (size_t k = 0; k < actualTrack.number_measurements(); k++){
-      EXPECT_LONGS_EQUAL(expectedTrack.measurements[k].first,actualTrack.measurements[k].first);
-      EXPECT(assert_equal(expectedTrack.measurements[k].second,actualTrack.measurements[k].second));
+      EXPECT_LONGS_EQUAL(expectedTrack.Measurements[k].first,actualTrack.Measurements[k].first);
+      EXPECT(assert_equal(expectedTrack.Measurements[k].second,actualTrack.Measurements[k].second));
     }
   }
 }
@@ -600,9 +600,9 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
-  EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
+  EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
   const SfmCamera& camera0 = writtenData.cameras[0];
-  Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
+  Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
   EXPECT(assert_equal(expected,actual,12));
 
   Pose3 expectedPose = camera0.pose();

gtsam/slam/tests/testEssentialMatrixFactor.cpp

@@ -46,10 +46,10 @@ EssentialMatrix trueE(trueRotation, trueDirection);
 double baseline = 0.1; // actual baseline of the camera
 
 Point2 pA(size_t i) {
-  return data.tracks[i].measurements[0].second;
+  return data.tracks[i].Measurements[0].second;
 }
 Point2 pB(size_t i) {
-  return data.tracks[i].measurements[1].second;
+  return data.tracks[i].Measurements[1].second;
 }
 Vector vA(size_t i) {
   return EssentialMatrix::Homogeneous(pA(i));
@@ -367,10 +367,10 @@ EssentialMatrix trueE(aRb, Unit3(aTb));
 double baseline = 10; // actual baseline of the camera
 
 Point2 pA(size_t i) {
-  return data.tracks[i].measurements[0].second;
+  return data.tracks[i].Measurements[0].second;
 }
 Point2 pB(size_t i) {
-  return data.tracks[i].measurements[1].second;
+  return data.tracks[i].Measurements[1].second;
 }
 
 boost::shared_ptr<Cal3Bundler> //

gtsam/slam/tests/testSmartProjectionFactor.cpp

@@ -283,14 +283,14 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
 
   SfmTrack track1;
   for (size_t i = 0; i < 3; ++i) {
-    track1.measurements.emplace_back(i + 1, measurements_cam1.at(i));
+    track1.Measurements.emplace_back(i + 1, measurements_cam1.at(i));
   }
   SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2));
   smartFactor1->add(track1);
 
   SfmTrack track2;
   for (size_t i = 0; i < 3; ++i) {
-    track2.measurements.emplace_back(i + 1, measurements_cam2.at(i));
+    track2.Measurements.emplace_back(i + 1, measurements_cam2.at(i));
   }
   SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2));
   smartFactor2->add(track2);

python/CMakeLists.txt

@@ -36,6 +36,9 @@ set(ignore
     gtsam::BetweenFactorPose3s
     gtsam::Point2Vector
     gtsam::Pose3Vector
+    gtsam::SfmMeasurement
+    gtsam::SfmCamera
+    gtsam::SiftIndex
     gtsam::KeyVector
     gtsam::BinaryMeasurementsUnit3
     gtsam::KeyPairDoubleMap)

python/gtsam/preamble.h

@@ -10,3 +10,6 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
 PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>);
+PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmCamera>);

python/gtsam/specializations.h

@@ -13,3 +13,6 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "Bina
 py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
 py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
+py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
+py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");
+py::bind_vector<std::vector<gtsam::SfmCamera> >(m_, "cameras");

python/gtsam/tests/test_SfmData.py

@@ -0,0 +1,79 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests for testing dataset access.
+Author: Frank Dellaert (Python: Sushmita Warrier)
+"""
+# pylint: disable=invalid-name, no-name-in-module, no-member
+
+from __future__ import print_function
+
+import unittest
+
+import numpy as np
+
+import gtsam
+#from gtsam import SfmCamera
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestSfmData(GtsamTestCase):
+    """Tests for SfmData and SfmTrack modules."""
+
+    def setUp(self):
+        """Initialize SfmData and SfmTrack"""
+        self.data = gtsam.SfmData()
+        self.tracks = gtsam.SfmTrack()
+
+    def test_tracks(self):
+        """Test functions in SfmTrack"""
+        # measurement is of format (camera_idx, imgPoint)
+        # create camera indices for two cameras
+        i1, i2 = np.random.randint(5), np.random.randint(5)
+        # create imgPoint for cameras i1 and i2
+        uv_i1 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        uv_i2 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        m_i1 = (i1, uv_i1)
+        m_i2 = (i2, uv_i2)
+        # add measurements to the track
+        self.tracks.add_measurement(m_i1)
+        self.tracks.add_measurement(m_i2)
+        # Number of measurements in the track is 2
+        self.assertEqual(self.tracks.number_measurements(), 2)
+        # camera_idx in the first measurement of the track corresponds to i1
+        self.assertEqual(self.tracks.measurement(0)[0], i1)
+        # Set arbitrary 3D point corresponding to the track
+        self.tracks.setP(gtsam.Point3(2.5, 3.3, 1.2))
+        np.testing.assert_array_almost_equal(
+            gtsam.Point3(2.5,3.3,1.2), 
+            self.tracks.point3()
+        )
+
+
+    def test_data(self):
+        """Test functions in SfmData"""
+        #cam1 = gtsam.SfmCamera(1500, 1200, 0, 640, 480)
+        # Create new track with 3 measurements
+        track2 = gtsam.SfmTrack()
+        i1, i2, i3 = np.random.randint(5), np.random.randint(5), np.random.randint(5)
+        uv_i1 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        uv_i2 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        uv_i3 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        m_i1, m_i2, m_i3 = (i1, uv_i1),  (i2, uv_i2), (i3, uv_i3)
+        # add measurements to the track
+        track2.add_measurement(m_i1)
+        track2.add_measurement(m_i2)
+        track2.add_measurement(m_i3)
+        self.data.add_track(self.tracks)
+        self.data.add_track(track2)
+        # Number of tracks in SfmData is 2
+        self.assertEqual(self.data.number_tracks(), 2)
+        # camera idx of first measurement of second track corresponds to i1
+        self.assertEqual(self.data.track(1).measurement(0)[0], i1)
+
+if __name__ == '__main__':
+    unittest.main()