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Examples that show rotation-first strategy

release/4.3a0
Frank Dellaert 2012-07-27 04:44:02 +00:00
parent 40cdab999b
commit b32931f879
4 changed files with 80281 additions and 3 deletions
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80186
examples/Data/w10000-odom.graph Normal file
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10
matlab/examples/Pose2SLAMExample_graph.m
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@ -12,12 +12,14 @@
%% Initialize graph, initial estimate, and odometry noise %% Initialize graph, initial estimate, and odometry noise
import gtsam.* import gtsam.*
model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]);
[graph,initial]=load2D('Data/w100-odom.graph',model); maxID=0;
addNoise=false;
smart=true;
[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart);
initial.print(sprintf('Initial estimate:\n')); initial.print(sprintf('Initial estimate:\n'));
%% Add a Gaussian prior on pose x_1 %% Add a Gaussian prior on pose x_1
import gtsam.*
priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin
priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]);
graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph
@ -28,7 +30,9 @@ P=initial.poses;
plot(P(:,1),P(:,2),'g-*'); axis equal plot(P(:,1),P(:,2),'g-*'); axis equal
%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
tic
result = graph.optimize(initial,1); result = graph.optimize(initial,1);
toc
P=result.poses; P=result.poses;
hold on; plot(P(:,1),P(:,2),'b-*') hold on; plot(P(:,1),P(:,2),'b-*')
result.print(sprintf('\nFinal result:\n')); result.print(sprintf('\nFinal result:\n'));

36
matlab/examples/Pose2SLAMExample_graph1.m Normal file
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@ -0,0 +1,36 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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 Read graph from file and perform GraphSLAM
% @author Frank Dellaert
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Initialize graph, initial estimate, and odometry noise
import gtsam.*
model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]);
maxID=0;
addNoise=false;
smart=true;
[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart);
%% Add a Gaussian prior on pose x_1
priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin
priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]);
graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph
%% Plot Initial Estimate
figure(1);clf
P=initial.poses;
plot(P(:,1),P(:,2),'r-'); axis equal
%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
tic
result = graph.optimize(initial,1);
toc
P=result.poses;
hold on; plot(P(:,1),P(:,2),'b-')

52
matlab/examples/Pose2SLAMExample_graph2.m Normal file
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@ -0,0 +1,52 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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 Read graph from file and perform GraphSLAM
% @author Frank Dellaert
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
import gtsam.*
maxID=0;
addNoise=false;
smart=true;
priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin
priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]);
%% Create graph, disregarding translation measurements by setting sigma high
model = noiseModel.Diagonal.Sigmas([100000; 100000; 1*pi/180]);
[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart);
%% Add a Gaussian prior on pose x_1
graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph
%% Plot Initial Estimate
figure(1);clf
P=initial.poses;
plot(P(:,1),P(:,2),'r-'); axis equal
%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
tic
result1 = graph.optimize(initial,1);
toc
P=result1.poses;
hold on; plot(P(:,1),P(:,2),'g-')
%% Read again, with correct noise now...
model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]);
graph=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart);
%% Add a Gaussian prior on pose x_1
graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph
%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
tic
result2 = graph.optimize(result1,1);
toc
P=result2.poses;
hold on; plot(P(:,1),P(:,2),'b-')