GlobalPositioner.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010-2020, 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/sfm/LocationRecovery.h>
 
#include <set>
 
namespace gtsam {
 
// Opinionated composition of LocationRecovery for the bipartite
// camera+landmark estimation problem (GLOMAP-style global positioning).
// Enforces:
//   - Explicit separation of camera keys and landmark keys
//   - Validation that the anchor key is a camera
//   - BILINEAR (BATA) cost function exclusively
//   - No DSFMap handling (not applicable to camera-landmark edges)
//
// For custom graph configurations (mixed edges, custom gauge, etc.),
// use LocationRecovery directly.
//
// Reference: Pan, L. et al., "Global Structure-from-Motion Revisited,"
// ECCV 2024.
class GTSAM_EXPORT GlobalPositioner : public LocationRecovery {
 public:
  using CameraPointDirection = BinaryMeasurement<Unit3>;
  using CameraPointDirections = std::vector<CameraPointDirection>;

  explicit GlobalPositioner(const LevenbergMarquardtParams &lmParams)
      : LocationRecovery(lmParams) {}

  GlobalPositioner() = default;

  Values initializeRandomly(
      const std::set<Key> &cameraKeys, const std::set<Key> &landmarkKeys,
      const CameraPointDirections &cameraPointDirections,
      const Values &initialValues = Values()) const;

  Values run(const CameraPointDirections &cameraPointDirections,
             const std::set<Key> &cameraKeys,
             const std::set<Key> &landmarkKeys, Key anchorCameraKey,
             const Values &initialValues = Values()) const;
};
 
}  // namespace gtsam