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added GNC example

release/4.3a0
lcarlone 2021-05-10 10:30:17 -04:00
parent c163e28c31
commit 7342438fb3
1 changed files with 7 additions and 3 deletions
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10
gtsam_unstable/examples/GncPoseAveragingExample.cpp
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@ -46,14 +46,18 @@ int main(int argc, char** argv){
// Seed random number generator // Seed random number generator
random_device rd; random_device rd;
mt19937 rng(rd()); mt19937 rng(rd());
uniform_real_distribution<double> uniformOutliers(-10, 10); uniform_real_distribution<double> uniform(-10, 10);
normal_distribution<double> normalInliers(0.0, 0.05); normal_distribution<double> normalInliers(0.0, 0.05);
Values initial; Values initial;
initial.insert(0, Pose3::identity()); // identity pose as initialization initial.insert(0, Pose3::identity()); // identity pose as initialization
// create ground truth pose // create ground truth pose
Pose3 gtPose = Pose3( Rot3::Ypr(3.0, 1.5, 0.8), Point3(4,1,3) ); Vector6 poseGtVector;
for(size_t i = 0; i < 6; ++i){
poseGtVector(i) = uniform(rng);
}
Pose3 gtPose = Pose3::Expmap(poseGtVector); // Pose3( Rot3::Ypr(3.0, 1.5, 0.8), Point3(4,1,3) );
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(6,0.05); const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(6,0.05);
@ -71,7 +75,7 @@ int main(int argc, char** argv){
for(size_t i=0; i<nrOutliers; i++){ for(size_t i=0; i<nrOutliers; i++){
Vector6 poseNoise; Vector6 poseNoise;
for(size_t i = 0; i < 6; ++i){ for(size_t i = 0; i < 6; ++i){
poseNoise(i) = uniformOutliers(rng); poseNoise(i) = uniform(rng);
} }
Pose3 poseMeasurement = gtPose.retract(poseNoise); Pose3 poseMeasurement = gtPose.retract(poseNoise);
graph.add(gtsam::PriorFactor<gtsam::Pose3>(0,poseMeasurement,model)); graph.add(gtsam::PriorFactor<gtsam::Pose3>(0,poseMeasurement,model));