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

ISAM2 option, increased num poses

release/4.3a0
Zsolt Kira 2013-09-14 03:10:10 +00:00
parent 0e5069c26c
commit c310bafc8a
1 changed files with 20 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp
View File

@ -226,8 +226,8 @@ void addTriangulatedLandmarks(NonlinearFactorGraph &graph, gtsam::Values::shared
point = triangulatePoint3(cameraPoses, measured, *K); point = triangulatePoint3(cameraPoses, measured, *K);
if (debug) std::cout << "Triangulation succeeded: " << point << std::endl; if (debug) std::cout << "Triangulation succeeded: " << point << std::endl;
} catch( TriangulationUnderconstrainedException& e) { } catch( TriangulationUnderconstrainedException& e) {
if (debug) std::cout << "Triangulation failed because of unconstrained exception" << std::endl;
if (debug) { if (debug) {
std::cout << "Triangulation failed because of unconstrained exception" << std::endl;
BOOST_FOREACH(const Pose3& pose, cameraPoses) { BOOST_FOREACH(const Pose3& pose, cameraPoses) {
std::cout << " Pose: " << pose << std::endl; std::cout << " Pose: " << pose << std::endl;
} }
@ -235,6 +235,7 @@ void addTriangulatedLandmarks(NonlinearFactorGraph &graph, gtsam::Values::shared
numFailures++; numFailures++;
continue; continue;
} catch( TriangulationCheiralityException& e) { } catch( TriangulationCheiralityException& e) {
if (debug) std::cout << "Triangulation failed because of unconstrained exception" << std::endl;
if (debug) { if (debug) {
std::cout << "Triangulation failed because of cheirality exception" << std::endl; std::cout << "Triangulation failed because of cheirality exception" << std::endl;
BOOST_FOREACH(const Pose3& pose, cameraPoses) { BOOST_FOREACH(const Pose3& pose, cameraPoses) {
@ -315,15 +316,25 @@ void optimizeGraphGN(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr grap
tictoc_finishedIteration_(); tictoc_finishedIteration_();
} }
void optimizeGraphISAM2(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr graphValues, Values &result) {
ISAM2 isam;
gttic_(SmartProjectionFactorExample_kitti);
isam.update(graph, *graphValues);
result = isam.calculateEstimate();
gttoc_(SmartProjectionFactorExample_kitti);
tictoc_finishedIteration_();
}
// main // main
int main(int argc, char** argv) { int main(int argc, char** argv) {
unsigned int maxNumLandmarks = 3909393; //100000000; //37106 //(reduced kitti); unsigned int maxNumLandmarks = 399997; //100000000; // 309393 // (loop_closure_merged) //37106 //(reduced kitti);
unsigned int maxNumPoses = 35410; unsigned int maxNumPoses = 4539; //3541
// Set to true to use SmartProjectionFactor. Otherwise GenericProjectionFactor will be used // Set to true to use SmartProjectionFactor. Otherwise GenericProjectionFactor will be used
bool useSmartProjectionFactor = true; bool useSmartProjectionFactor = true;
bool useTriangulation = true; bool useTriangulation = false;
bool useLM = true; bool useLM = true;
std::cout << "PARAM SmartFactor: " << useSmartProjectionFactor << std::endl; std::cout << "PARAM SmartFactor: " << useSmartProjectionFactor << std::endl;
@ -334,9 +345,11 @@ int main(int argc, char** argv) {
string HOME = getenv("HOME"); string HOME = getenv("HOME");
//string input_dir = HOME + "/data/KITTI_00_200/"; //string input_dir = HOME + "/data/KITTI_00_200/";
string input_dir = HOME + "/data/kitti/loop_closures_merged/"; // 399997 landmarks, 4541 poses string input_dir = HOME + "/data/kitti/loop_closures_merged/"; // 399997 landmarks, 4541 poses
//string input_dir = HOME + "/data/kitti_00_full_dirty/";
static SharedNoiseModel pixel_sigma(noiseModel::Unit::Create(2)); static SharedNoiseModel pixel_sigma(noiseModel::Unit::Create(2));
static SharedNoiseModel prior_model(noiseModel::Diagonal::Sigmas(Vector_(6, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01))); static SharedNoiseModel prior_model(noiseModel::Diagonal::Sigmas(Vector_(6, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01)));
//static SharedNoiseModel prior_model(noiseModel::Diagonal::Sigmas(Vector_(6, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9)));
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
// Load calibration // Load calibration
@ -392,7 +405,7 @@ int main(int argc, char** argv) {
if (useLM) if (useLM)
optimizeGraphLM(graph, graphValues, result); optimizeGraphLM(graph, graphValues, result);
else else
optimizeGraphGN(graph, graphValues, result); optimizeGraphISAM2(graph, graphValues, result);
optimized = true; optimized = true;
// Only process first N measurements (for development/debugging) // Only process first N measurements (for development/debugging)
@ -521,7 +534,7 @@ int main(int argc, char** argv) {
if (useLM) if (useLM)
optimizeGraphLM(graph, graphValues, result); optimizeGraphLM(graph, graphValues, result);
else else
optimizeGraphGN(graph, graphValues, result); optimizeGraphISAM2(graph, graphValues, result);
optimized = true; optimized = true;
} }