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

revised spcg examples

release/4.3a0
Yong-Dian Jian 2010-10-25 22:21:53 +00:00
parent c157b6faa0
commit c81f33eb9e
2 changed files with 31 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

46
examples/Pose2SLAMwSPCG_advanced.cpp
View File

@ -40,36 +40,11 @@ sharedGraph graph;
sharedValue initial; sharedValue initial;
Values result; Values result;
void generateData() ;
/* ************************************************************************* */ /* ************************************************************************* */
int main(void) { int main(void) {
/* generate synthetic data */
const SharedGaussian sigma(noiseModel::Unit::Create(0.1)); const SharedGaussian sigma(noiseModel::Unit::Create(0.1));
generateData() ;
graph->print("full graph") ;
initial->print("initial estimate") ;
sharedSolver solver(new Solver(*graph, *initial)) ;
SPCGOptimizer optimizer(graph, initial, solver->ordering(), solver) ;
cout << "before optimization, sum of error is " << optimizer.error() << endl;
NonlinearOptimizationParameters parameter;
SPCGOptimizer optimizer2 = optimizer.levenbergMarquardt(parameter);
cout << "after optimization, sum of error is " << optimizer2.error() << endl;
result = *optimizer2.values() ;
result.print("final result") ;
return 0 ;
}
void generateData() {
// noise model
const SharedGaussian sigma(noiseModel::Unit::Create(0.1));
Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9); Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9);
graph = boost::make_shared<Graph>() ; graph = boost::make_shared<Graph>() ;
@ -102,4 +77,23 @@ void generateData() {
initial->insert(x7, Pose2(4.0, 0.1, 0.03 )); initial->insert(x7, Pose2(4.0, 0.1, 0.03 ));
initial->insert(x8, Pose2(3.9, 2.1, 0.01)); initial->insert(x8, Pose2(3.9, 2.1, 0.01));
initial->insert(x9, Pose2(4.1, 3.9,-0.01)); initial->insert(x9, Pose2(4.1, 3.9,-0.01));
/* done with generating data */
graph->print("full graph") ;
initial->print("initial estimate") ;
sharedSolver solver(new Solver(*graph, *initial)) ;
SPCGOptimizer optimizer(graph, initial, solver->ordering(), solver) ;
cout << "before optimization, sum of error is " << optimizer.error() << endl;
NonlinearOptimizationParameters parameter;
SPCGOptimizer optimizer2 = optimizer.levenbergMarquardt(parameter);
cout << "after optimization, sum of error is " << optimizer2.error() << endl;
result = *optimizer2.values() ;
result.print("final result") ;
return 0 ;
} }

24
examples/Pose2SLAMwSPCG_easy.cpp
View File

@ -29,24 +29,13 @@ Graph graph;
Values initial; Values initial;
Values result; Values result;
void generateData() ;
/* ************************************************************************* */ /* ************************************************************************* */
int main(void) { int main(void) {
generateData() ; /* generate synthetic data */
graph.print("full graph") ;
initial.print("initial estimate");
result = optimizeSPCG(graph, initial);
result.print("final result") ;
return 0 ;
}
void generateData() {
// noise model
const SharedGaussian sigma(noiseModel::Unit::Create(0.1)); const SharedGaussian sigma(noiseModel::Unit::Create(0.1));
Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9); Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9);
// create a 3 by 3 grid // create a 3 by 3 grid
@ -76,4 +65,13 @@ void generateData() {
initial.insert(x7, Pose2(4.0, 0.1, 0.03 )); initial.insert(x7, Pose2(4.0, 0.1, 0.03 ));
initial.insert(x8, Pose2(3.9, 2.1, 0.01)); initial.insert(x8, Pose2(3.9, 2.1, 0.01));
initial.insert(x9, Pose2(4.1, 3.9,-0.01)); initial.insert(x9, Pose2(4.1, 3.9,-0.01));
/* done */
graph.print("full graph") ;
initial.print("initial estimate");
result = optimizeSPCG(graph, initial);
result.print("final result") ;
return 0 ;
} }