12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

added 3D version of readG2o with unit test

release/4.3a0
Luca 2014-08-18 20:40:52 -04:00
parent b58d377a97
commit 358c978f00
4 changed files with 135 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
examples/Data/pose3example.txt Normal file
View File

@ -0,0 +1,11 @@
VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
VERTEX_SE3:QUAT 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230
VERTEX_SE3:QUAT 2 1.993500 0.023275 0.003793 -0.351729 -0.597838 0.584174 0.421446
VERTEX_SE3:QUAT 3 2.004291 1.024305 0.018047 0.331798 -0.200659 0.919323 0.067024
VERTEX_SE3:QUAT 4 0.999908 1.055073 0.020212 -0.035697 -0.462490 0.445933 0.765488
EDGE_SE3:QUAT 0 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 1 2 0.523923 0.776654 0.326659 0.311512 0.656877 -0.678505 0.105373 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 2 3 0.910927 0.055169 -0.411761 0.595795 -0.561677 0.079353 0.568551 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 3 4 0.775288 0.228798 -0.596923 -0.592077 0.303380 -0.513226 0.542221 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 1 4 -0.577841 0.628016 -0.543592 -0.125250 -0.534379 0.769122 0.327419 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 3 0 -0.623267 0.086928 0.773222 0.104639 0.627755 0.766795 0.083672 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000

63
gtsam/slam/dataset.cpp
View File

@ -250,7 +250,6 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, int maxID,
new BetweenFactor<Pose2>(id1, id2, l1Xl2, model));
graph->push_back(factor);
}
// Parse measurements
double bearing, range, bearing_std, range_std;
@ -358,12 +357,16 @@ void save2D(const NonlinearFactorGraph& graph, const Values& config,
}
/* ************************************************************************* */
GraphAndValues readG2o(const string& g2oFile,
GraphAndValues readG2o(const string& g2oFile, const bool is3D,
KernelFunctionType kernelFunctionType) {
// just call load2D
int maxID = 0;
bool addNoise = false;
bool smart = true;
if(is3D)
return load3D(g2oFile);
return load2D(g2oFile, SharedNoiseModel(), maxID, addNoise, smart,
NoiseFormatG2O, kernelFunctionType);
}
@ -374,11 +377,13 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
fstream stream(filename.c_str(), fstream::out);
// save poses
// save 2D & 3D poses
BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, estimate) {
const Pose2& pose = dynamic_cast<const Pose2&>(key_value.value);
stream << "VERTEX_SE2 " << key_value.key << " " << pose.x() << " "
<< pose.y() << " " << pose.theta() << endl;
const Pose2& pose2D = dynamic_cast<const Pose2&>(key_value.value);
if(&pose2D){
stream << "VERTEX_SE2 " << key_value.key << " " << pose2D.x() << " "
<< pose2D.y() << " " << pose2D.theta() << endl;
}
}
// save edges
@ -406,10 +411,14 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
}
/* ************************************************************************* */
bool load3D(const string& filename) {
GraphAndValues load3D(const string& filename) {
ifstream is(filename.c_str());
if (!is)
return false;
throw invalid_argument("load2D: can not find file " + filename);
Values::shared_ptr initial(new Values);
NonlinearFactorGraph::shared_ptr graph(new NonlinearFactorGraph);
while (is) {
char buf[LINESIZE];
@ -422,6 +431,17 @@ bool load3D(const string& filename) {
int id;
double x, y, z, roll, pitch, yaw;
ls >> id >> x >> y >> z >> roll >> pitch >> yaw;
Rot3 R = Rot3::ypr(yaw,pitch,roll);
Point3 t = Point3(x, y, z);
initial->insert(id, Pose3(R,t));
}
if (tag == "VERTEX_SE3:QUAT") {
int id;
double x, y, z, qx, qy, qz, qw;
ls >> id >> x >> y >> z >> qx >> qy >> qz >> qw;
Rot3 R = Rot3::quaternion(qw, qx, qy, qz);
Point3 t = Point3(x, y, z);
initial->insert(id, Pose3(R,t));
}
}
is.clear(); /* clears the end-of-file and error flags */
@ -438,13 +458,38 @@ bool load3D(const string& filename) {
int id1, id2;
double x, y, z, roll, pitch, yaw;
ls >> id1 >> id2 >> x >> y >> z >> roll >> pitch >> yaw;
Rot3 R = Rot3::ypr(yaw,pitch,roll);
Point3 t = Point3(x, y, z);
Matrix m = eye(6);
for (int i = 0; i < 6; i++)
for (int j = i; j < 6; j++)
ls >> m(i, j);
SharedNoiseModel model = noiseModel::Gaussian::Information(m);
NonlinearFactor::shared_ptr factor(
new BetweenFactor<Pose3>(id1, id2, Pose3(R,t), model));
graph->push_back(factor);
}
if (tag == "EDGE_SE3:QUAT") {
Matrix m = eye(6);
int id1, id2;
double x, y, z, qx, qy, qz, qw;
ls >> id1 >> id2 >> x >> y >> z >> qx >> qy >> qz >> qw;
Rot3 R = Rot3::quaternion(qw, qx, qy, qz);
Point3 t = Point3(x, y, z);
for (int i = 0; i < 6; i++){
for (int j = i; j < 6; j++){
ls >> m(i, j);
if( j > i && m(i, j)!= 0)
throw invalid_argument("load3D: current version assumes diagonal noise!");
}
}
SharedNoiseModel model = noiseModel::Gaussian::Information(m);
NonlinearFactor::shared_ptr factor(
new BetweenFactor<Pose3>(id1, id2, Pose3(R,t), model));
graph->push_back(factor);
}
}
return true;
return make_pair(graph, initial);
}
/* ************************************************************************* */

7
gtsam/slam/dataset.h
View File

@ -110,11 +110,12 @@ GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
/**
* @brief This function parses a g2o file and stores the measurements into a
* NonlinearFactorGraph and the initial guess in a Values structure
* @param filename The name of the g2o file
* @param filename The name of the g2o file\
* @param is3D indicates if the file describes a 2D or 3D problem
* @param kernelFunctionType whether to wrap the noise model in a robust kernel
* @return graph and initial values
*/
GTSAM_EXPORT GraphAndValues readG2o(const std::string& g2oFile,
GTSAM_EXPORT GraphAndValues readG2o(const std::string& g2oFile, const bool is3D = false,
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
/**
@ -130,7 +131,7 @@ GTSAM_EXPORT void writeG2o(const NonlinearFactorGraph& graph,
/**
* Load TORO 3D Graph
*/
GTSAM_EXPORT bool load3D(const std::string& filename);
GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);
/// A measurement with its camera index
typedef std::pair<size_t, Point2> SfM_Measurement;

68
gtsam/slam/tests/testDataset.cpp
View File

@ -116,13 +116,76 @@ TEST( dataSet, readG2o)
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
}
/* ************************************************************************* */
TEST( dataSet, readG2o3D)
{
const string g2oFile = findExampleDataFile("pose3example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
bool is3D = true;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D);
Values expectedValues;
Rot3 R0 = Rot3::quaternion(1.000000, 0.000000, 0.000000, 0.000000 );
Point3 p0 = Point3(0.000000, 0.000000, 0.000000);
expectedValues.insert(0, Pose3(R0, p0));
Rot3 R1 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 );
Point3 p1 = Point3(1.001367, 0.015390, 0.004948);
expectedValues.insert(1, Pose3(R1, p1));
Rot3 R2 = Rot3::quaternion(0.421446, -0.351729, -0.597838, 0.584174 );
Point3 p2 = Point3(1.993500, 0.023275, 0.003793);
expectedValues.insert(2, Pose3(R2, p2));
Rot3 R3 = Rot3::quaternion(0.067024, 0.331798, -0.200659, 0.919323);
Point3 p3 = Point3(2.004291, 1.024305, 0.018047);
expectedValues.insert(3, Pose3(R3, p3));
Rot3 R4 = Rot3::quaternion(0.765488, -0.035697, -0.462490, 0.445933);
Point3 p4 = Point3(0.999908, 1.055073, 0.020212);
expectedValues.insert(4, Pose3(R4, p4));
EXPECT(assert_equal(expectedValues,*actualValues,1e-5));
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Precisions((Vector(6) << 10000.0,10000.0,10000.0,10000.0,10000.0,10000.0));
NonlinearFactorGraph expectedGraph;
Point3 p01 = Point3(1.001367, 0.015390, 0.004948);
Rot3 R01 = Rot3::quaternion(0.854230, 0.190253, 0.283162, -0.392318 );
expectedGraph.add(BetweenFactor<Pose3>(0, 1, Pose3(R01,p01), model));
Point3 p12 = Point3(0.523923, 0.776654, 0.326659);
Rot3 R12 = Rot3::quaternion(0.105373 , 0.311512, 0.656877, -0.678505 );
expectedGraph.add(BetweenFactor<Pose3>(1, 2, Pose3(R12,p12), model));
Point3 p23 = Point3(0.910927, 0.055169, -0.411761);
Rot3 R23 = Rot3::quaternion(0.568551 , 0.595795, -0.561677, 0.079353 );
expectedGraph.add(BetweenFactor<Pose3>(2, 3, Pose3(R23,p23), model));
Point3 p34 = Point3(0.775288, 0.228798, -0.596923);
Rot3 R34 = Rot3::quaternion(0.542221 , -0.592077, 0.303380, -0.513226 );
expectedGraph.add(BetweenFactor<Pose3>(3, 4, Pose3(R34,p34), model));
Point3 p14 = Point3(-0.577841, 0.628016, -0.543592);
Rot3 R14 = Rot3::quaternion(0.327419 , -0.125250, -0.534379, 0.769122 );
expectedGraph.add(BetweenFactor<Pose3>(1, 4, Pose3(R14,p14), model));
Point3 p30 = Point3(-0.623267, 0.086928, 0.773222);
Rot3 R30 = Rot3::quaternion(0.083672 , 0.104639, 0.627755, 0.766795 );
expectedGraph.add(BetweenFactor<Pose3>(3, 0, Pose3(R30,p30), model));
EXPECT(assert_equal(expectedGraph,*actualGraph,1e-5));
}
/* ************************************************************************* */
TEST( dataSet, readG2oHuber)
{
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, KernelFunctionTypeHUBER);
bool is3D = false;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeHUBER);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699));
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.345), baseModel);
@ -149,7 +212,8 @@ TEST( dataSet, readG2oTukey)
const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph::shared_ptr actualGraph;
Values::shared_ptr actualValues;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, KernelFunctionTypeTUKEY);
bool is3D = false;
boost::tie(actualGraph, actualValues) = readG2o(g2oFile, is3D, KernelFunctionTypeTUKEY);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699));
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), baseModel);