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small improvements

release/4.3a0
Luca 2014-09-11 20:54:46 -04:00
parent 661862f3e3
commit 3ad83e6394
3 changed files with 22 additions and 30 deletions
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25
examples/Pose3SLAMExample_changeKeys.cpp
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@ -12,7 +12,7 @@
/** /**
* @file Pose3SLAMExample_initializePose3.cpp * @file Pose3SLAMExample_initializePose3.cpp
* @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3 * @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3
* Syntax for the script is ./Pose3SLAMExample_initializePose3 input.g2o output.g2o rewritted.g2o * Syntax for the script is ./Pose3SLAMExample_changeKeys input.g2o rewritted.g2o
* @date Aug 25, 2014 * @date Aug 25, 2014
* @author Luca Carlone * @author Luca Carlone
*/ */
@ -40,9 +40,15 @@ int main(const int argc, const char *argv[]) {
bool is3D = true; bool is3D = true;
boost::tie(graph, initial) = readG2o(g2oFile, is3D); boost::tie(graph, initial) = readG2o(g2oFile, is3D);
bool add = false;
Key firstKey = 8646911284551352320; Key firstKey = 8646911284551352320;
std::cout << "Using reference key: " << firstKey << std::endl; std::cout << "Using reference key: " << firstKey << std::endl;
if(add)
std::cout << "adding key " << std::endl;
else
std::cout << "subtracting key " << std::endl;
if (argc < 3) { if (argc < 3) {
std::cout << "Please provide output file to write " << std::endl; std::cout << "Please provide output file to write " << std::endl;
@ -52,7 +58,12 @@ int main(const int argc, const char *argv[]) {
// Additional: rewrite input with simplified keys 0,1,... // Additional: rewrite input with simplified keys 0,1,...
Values simpleInitial; Values simpleInitial;
BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) { BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
Key key = key_value.key + firstKey; Key key;
if(add)
key = key_value.key + firstKey;
else
key = key_value.key - firstKey;
simpleInitial.insert(key, initial->at(key_value.key)); simpleInitial.insert(key, initial->at(key_value.key));
} }
NonlinearFactorGraph simpleGraph; NonlinearFactorGraph simpleGraph;
@ -60,8 +71,14 @@ int main(const int argc, const char *argv[]) {
boost::shared_ptr<BetweenFactor<Pose3> > pose3Between = boost::shared_ptr<BetweenFactor<Pose3> > pose3Between =
boost::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor); boost::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor);
if (pose3Between){ if (pose3Between){
Key key1 = pose3Between->key1() + firstKey; Key key1, key2;
Key key2 = pose3Between->key2() + firstKey; if(add){
key1 = pose3Between->key1() + firstKey;
key2 = pose3Between->key2() + firstKey;
}else{
key1 = pose3Between->key1() - firstKey;
key2 = pose3Between->key2() - firstKey;
}
NonlinearFactor::shared_ptr simpleFactor( NonlinearFactor::shared_ptr simpleFactor(
new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->get_noiseModel())); new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->get_noiseModel()));
simpleGraph.add(simpleFactor); simpleGraph.add(simpleFactor);

25
examples/Pose3SLAMExample_initializePose3Chordal.cpp
View File

@ -63,31 +63,6 @@ int main(const int argc, const char *argv[]) {
std::cout << "Writing results to file: " << outputFile << std::endl; std::cout << "Writing results to file: " << outputFile << std::endl;
writeG2o(*graph, initialization, outputFile); writeG2o(*graph, initialization, outputFile);
std::cout << "done! " << std::endl; std::cout << "done! " << std::endl;
// This should be deleted: only for debug
// if (argc == 4){
// const string inputFileRewritten = argv[3];
// std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl;
// // Additional: rewrite input with simplified keys 0,1,...
// Values simpleInitial;
// BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
// Key key = key_value.key - firstKey;
// simpleInitial.insert(key, initial->at(key_value.key));
// }
// NonlinearFactorGraph simpleGraph;
// BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, *graph) {
// boost::shared_ptr<BetweenFactor<Pose3> > pose3Between =
// boost::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor);
// if (pose3Between){
// Key key1 = pose3Between->key1() - firstKey;
// Key key2 = pose3Between->key2() - firstKey;
// NonlinearFactor::shared_ptr simpleFactor(
// new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->get_noiseModel()));
// simpleGraph.add(simpleFactor);
// }
// }
// writeG2o(simpleGraph, simpleInitial, inputFileRewritten);
// }
} }
return 0; return 0;
} }

2
examples/Pose3SLAMExample_initializePose3Gradient.cpp
View File

@ -43,7 +43,7 @@ int main(const int argc, const char *argv[]) {
// Add prior on the first key // Add prior on the first key
NonlinearFactorGraph graphWithPrior = *graph; NonlinearFactorGraph graphWithPrior = *graph;
noiseModel::Diagonal::shared_ptr priorModel = // noiseModel::Diagonal::shared_ptr priorModel = //
noiseModel::Diagonal::Variances((Vector(6) << 0.1, 0.1, 0.1, 0.01, 0.01, 0.01)); noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4));
Key firstKey = 0; Key firstKey = 0;
BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) { BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
std::cout << "Adding prior to g2o file " << std::endl; std::cout << "Adding prior to g2o file " << std::endl;