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Added LocalizationExample

release/4.3a0
Frank Dellaert 2012-06-12 05:29:25 +00:00
parent aeeb47d470
commit 03a6317a0c
4 changed files with 63 additions and 6 deletions
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58
matlab/examples/LocalizationExample.m Normal file
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@ -0,0 +1,58 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% GTSAM Copyright 2010, 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
%
% @brief Example of a simple 2D localization example
% @author Frank Dellaert
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Assumptions
% - Robot poses are facing along the X axis (horizontal, to the right in 2D)
% - The robot moves 2 meters each step
% - The robot is on a grid, moving 2 meters each step
%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph)
graph = pose2SLAMGraph;
%% Add two odometry factors
odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case)
odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta
graph.addOdometry(1, 2, odometry, odometryNoise);
graph.addOdometry(2, 3, odometry, odometryNoise);
%% Add three "GPS" measurements
% We use Pose2 Priors here with high variance on theta
noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.1; 10]);
graph.addPrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel);
graph.addPrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel);
graph.addPrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel);
%% print
graph.print(sprintf('\nFactor graph:\n'));
%% Initialize to noisy points
initialEstimate = pose2SLAMValues;
initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2));
initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2));
initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1));
initialEstimate.print(sprintf('\nInitial estimate:\n '));
%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
result = graph.optimize(initialEstimate);
result.print(sprintf('\nFinal result:\n '));
%% Plot Covariance Ellipses
cla;
plot(result.xs(),result.ys(),'k*-'); hold on
marginals = graph.marginals(result);
for i=1:result.size()
pose_i = result.pose(i);
P{i}=marginals.marginalCovariance(i);
plotPose2(pose_i,'g',P{i})
end
axis([-0.6 4.8 -1 1])
axis equal

1
matlab/examples/OdometryExample.m
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@ -52,4 +52,5 @@ for i=1:result.size()
P{i}=marginals.marginalCovariance(i);
plotPose2(pose_i,'g',P{i})
end
axis([-0.6 4.8 -1 1])
axis equal

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matlab/examples/gtsamExamples.fig
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10
matlab/examples/gtsamExamples.m
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@ -57,11 +57,6 @@ handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% This sets up the initial plot - only do when we are invisible
% so window can get raised using gtsamExamples.
if strcmp(get(hObject,'Visible'),'off')
plot(rand(5));
end
% --- Outputs from this function are returned to the command line.
function varargout = gtsamExamples_OutputFcn(hObject, eventdata, handles)
@ -96,7 +91,10 @@ echo off
% --- Executes on button press in Localization.
function Localization_Callback(hObject, eventdata, handles)
fprintf(1,'LocalizationExample not implemented yet\n');
axes(handles.axes3);
echo on
LocalizationExample;
echo off
% --- Executes on button press in Pose2SLAM.
function Pose2SLAM_Callback(hObject, eventdata, handles)