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Very generic parseToVector

release/4.3a0
Frank Dellaert 2020-08-12 23:24:52 -04:00
parent a978c15d8e
commit d67afa8a3d
3 changed files with 370 additions and 244 deletions
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gtsam/slam/dataset.cpp
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@ -21,21 +21,25 @@
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/Values-inl.h>
#include <gtsam/linear/Sampler.h>
#include <gtsam/inference/FactorGraph.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/Values-inl.h>
#include <gtsam/linear/Sampler.h>
#include <gtsam/base/GenericValue.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/types.h>
#include <gtsam/base/Value.h>
#include <gtsam/base/Vector.h>
#include <gtsam/base/types.h>
#include <boost/assign/list_inserter.hpp>
#include <boost/filesystem/operations.hpp>
@ -81,11 +85,10 @@ string findExampleDataFile(const string& name) {
}
// If we did not return already, then we did not find the file
throw invalid_argument(
"gtsam::findExampleDataFile could not find a matching file in\n"
GTSAM_SOURCE_TREE_DATASET_DIR " or\n"
GTSAM_INSTALLED_DATASET_DIR " named\n" + name + ", " + name
+ ".graph, or " + name + ".txt");
throw invalid_argument("gtsam::findExampleDataFile could not find a matching "
"file in\n" GTSAM_SOURCE_TREE_DATASET_DIR
" or\n" GTSAM_INSTALLED_DATASET_DIR " named\n" +
name + ", " + name + ".graph, or " + name + ".txt");
}
/* ************************************************************************* */
@ -93,13 +96,13 @@ string createRewrittenFileName(const string& name) {
// Search source tree and installed location
if (!exists(fs::path(name))) {
throw invalid_argument(
"gtsam::createRewrittenFileName could not find a matching file in\n"
+ name);
"gtsam::createRewrittenFileName could not find a matching file in\n" +
name);
}
fs::path p(name);
fs::path newpath = fs::path(p.parent_path().string())
/ fs::path(p.stem().string() + "-rewritten.txt");
fs::path newpath = fs::path(p.parent_path().string()) /
fs::path(p.stem().string() + "-rewritten.txt");
return newpath.string();
}
@ -113,48 +116,49 @@ GraphAndValues load2D(pair<string, SharedNoiseModel> dataset, Key maxNr,
}
/* ************************************************************************* */
// Read noise parameters and interpret them according to flags
static SharedNoiseModel readNoiseModel(ifstream& is, bool smart,
NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType) {
double v1, v2, v3, v4, v5, v6;
is >> v1 >> v2 >> v3 >> v4 >> v5 >> v6;
// Interpret noise parameters according to flags
static SharedNoiseModel
createNoiseModel(const Vector6 v, bool smart, NoiseFormat noiseFormat,
KernelFunctionType kernelFunctionType) {
if (noiseFormat == NoiseFormatAUTO) {
// Try to guess covariance matrix layout
if (v1 != 0.0 && v2 == 0.0 && v3 != 0.0 && v4 != 0.0 && v5 == 0.0
&& v6 == 0.0) {
// NoiseFormatGRAPH
if (v(0) != 0.0 && v(1) == 0.0 && v(2) != 0.0 && //
v(3) != 0.0 && v(4) == 0.0 && v(5) == 0.0) {
noiseFormat = NoiseFormatGRAPH;
} else if (v1 != 0.0 && v2 == 0.0 && v3 == 0.0 && v4 != 0.0 && v5 == 0.0
&& v6 != 0.0) {
// NoiseFormatCOV
} else if (v(0) != 0.0 && v(1) == 0.0 && v(2) == 0.0 && //
v(3) != 0.0 && v(4) == 0.0 && v(5) != 0.0) {
noiseFormat = NoiseFormatCOV;
} else {
throw std::invalid_argument(
"load2D: unrecognized covariance matrix format in dataset file. Please specify the noise format.");
"load2D: unrecognized covariance matrix format in dataset file. "
"Please specify the noise format.");
}
}
// Read matrix and check that diagonal entries are non-zero
Matrix M(3, 3);
Matrix3 M;
switch (noiseFormat) {
case NoiseFormatG2O:
case NoiseFormatCOV:
// i.e., [ v1 v2 v3; v2' v4 v5; v3' v5' v6 ]
if (v1 == 0.0 || v4 == 0.0 || v6 == 0.0)
// i.e., [v(0) v(1) v(2);
// v(1)' v(3) v(4);
// v(2)' v(4)' v(5) ]
if (v(0) == 0.0 || v(3) == 0.0 || v(5) == 0.0)
throw runtime_error(
"load2D::readNoiseModel looks like this is not G2O matrix order");
M << v1, v2, v3, v2, v4, v5, v3, v5, v6;
M << v(0), v(1), v(2), v(1), v(3), v(4), v(2), v(4), v(5);
break;
case NoiseFormatTORO:
case NoiseFormatGRAPH:
// http://www.openslam.org/toro.html
// inf_ff inf_fs inf_ss inf_rr inf_fr inf_sr
// i.e., [ v1 v2 v5; v2' v3 v6; v5' v6' v4 ]
if (v1 == 0.0 || v3 == 0.0 || v4 == 0.0)
// i.e., [v(0) v(1) v(4);
// v(1)' v(2) v(5);
// v(4)' v(5)' v(3) ]
if (v(0) == 0.0 || v(2) == 0.0 || v(3) == 0.0)
throw invalid_argument(
"load2D::readNoiseModel looks like this is not TORO matrix order");
M << v1, v2, v5, v2, v3, v6, v5, v6, v4;
M << v(0), v(1), v(4), v(1), v(2), v(5), v(4), v(5), v(3);
break;
default:
throw runtime_error("load2D: invalid noise format");
@ -195,12 +199,15 @@ static SharedNoiseModel readNoiseModel(ifstream& is, bool smart,
}
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/* ************************************************************************* */
boost::optional<IndexedPose> parseVertex(istream& is, const string& tag) {
return parseVertexPose(is, tag);
// Read noise parameters and interpret them according to flags
static SharedNoiseModel readNoiseModel(istream &is, bool smart,
NoiseFormat noiseFormat,
KernelFunctionType kernelFunctionType) {
Vector6 v;
is >> v(0) >> v(1) >> v(2) >> v(3) >> v(4) >> v(5);
return createNoiseModel(v, smart, noiseFormat, kernelFunctionType);
}
#endif
/* ************************************************************************* */
boost::optional<IndexedPose> parseVertexPose(istream &is, const string &tag) {
@ -215,7 +222,8 @@ boost::optional<IndexedPose> parseVertexPose(istream& is, const string& tag) {
}
/* ************************************************************************* */
boost::optional<IndexedLandmark> parseVertexLandmark(istream& is, const string& tag) {
boost::optional<IndexedLandmark> parseVertexLandmark(istream &is,
const string &tag) {
if (tag == "VERTEX_XY") {
Key id;
double x, y;
@ -274,10 +282,38 @@ map<Key, Point2> parse2DLandmarks(const string &filename, Key maxNr) {
return parseIntoMap<Point2>(filename, maxNr);
}
/* ************************************************************************* */
// Parse a file by first parsing the `Parsed` type and then processing it with
// the supplied `process` function. Result is put in a vector evaluates to true.
// Requires: a stream >> operator for boost::optional<Parsed>
template <typename Parsed, typename Output>
static vector<Output>
parseToVector(const string &filename,
const std::function<Output(const Parsed &)> process) {
ifstream is(filename.c_str());
if (!is)
throw invalid_argument("parse: can not find file " + filename);
vector<Output> result;
string tag;
while (!is.eof()) {
boost::optional<Parsed> parsed;
is >> parsed;
if (parsed) {
Output factor = process(*parsed); // can return nullptr
if (factor) {
result.push_back(factor);
}
}
is.ignore(LINESIZE, '\n');
}
return result;
}
/* ************************************************************************* */
boost::optional<IndexedEdge> parseEdge(istream &is, const string &tag) {
if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "EDGE_SE2")
|| (tag == "ODOMETRY")) {
if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "EDGE_SE2") ||
(tag == "ODOMETRY")) {
Key id1, id2;
double x, y, yaw;
@ -288,6 +324,86 @@ boost::optional<IndexedEdge> parseEdge(istream& is, const string& tag) {
}
}
/* ************************************************************************* */
struct Measurement2 {
Key id1, id2;
Pose2 pose;
Vector6 v; // 6 noise model parameters for edge
};
istream &operator>>(istream &is, boost::optional<Measurement2> &edge) {
string tag;
is >> tag;
if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "EDGE_SE2") ||
(tag == "ODOMETRY")) {
Key id1, id2;
double x, y, yaw;
Vector6 v;
is >> id1 >> id2 >> x >> y >> yaw >> //
v(0) >> v(1) >> v(2) >> v(3) >> v(4) >> v(5);
edge.reset({id1, id2, Pose2(x, y, yaw), v});
}
return is;
}
/* ************************************************************************* */
// Create a sampler
boost::shared_ptr<Sampler> createSampler(const SharedNoiseModel &model) {
auto noise = boost::dynamic_pointer_cast<noiseModel::Diagonal>(model);
if (!noise)
throw invalid_argument("gtsam::load: invalid noise model for adding noise"
"(current version assumes diagonal noise model)!");
return boost::shared_ptr<Sampler>(new Sampler(noise));
}
/* ************************************************************************* */
// Small functor to process the edge into a BetweenFactor<Pose2>::shared_ptr
struct ProcessPose2 {
// The arguments
Key maxNr = 0;
SharedNoiseModel model;
boost::shared_ptr<Sampler> sampler;
// Arguments for parsing noise model
bool smart = true;
NoiseFormat noiseFormat = NoiseFormatAUTO;
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE;
// The actual function
BetweenFactor<Pose2>::shared_ptr operator()(const Measurement2 &edge) {
// optional filter
if (maxNr && (edge.id1 >= maxNr || edge.id2 >= maxNr))
return nullptr;
// Get pose and optionally add noise
Pose2 T12 = edge.pose;
if (sampler)
T12 = T12.retract(sampler->sample());
// Create factor
// If model is nullptr we use the model from the file
return boost::make_shared<BetweenFactor<Pose2>>(
edge.id1, edge.id2, T12,
model
? model
: createNoiseModel(edge.v, smart, noiseFormat, kernelFunctionType));
}
};
/* ************************************************************************* */
BetweenFactorPose2s
parse2DFactors(const string &filename,
const noiseModel::Diagonal::shared_ptr &corruptingNoise,
Key maxNr) {
ProcessPose2 process;
process.maxNr = maxNr;
if (corruptingNoise) {
process.sampler = createSampler(corruptingNoise);
}
return parseToVector<Measurement2, BetweenFactor<Pose2>::shared_ptr>(filename,
process);
}
/* ************************************************************************* */
GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
bool addNoise, bool smart, NoiseFormat noiseFormat,
@ -311,7 +427,7 @@ GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
NonlinearFactorGraph::shared_ptr graph(new NonlinearFactorGraph);
// If asked, create a sampler with random number generator
std::unique_ptr<Sampler> sampler;
boost::shared_ptr<Sampler> sampler;
if (addNoise) {
noiseModel::Diagonal::shared_ptr noise;
if (model)
@ -335,11 +451,11 @@ GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
auto between_pose = parseEdge(is, tag);
if (between_pose) {
std::tie(id1, id2) = between_pose->first;
Pose2& l1Xl2 = between_pose->second;
Pose2 l1Xl2 = between_pose->second;
// read noise model
SharedNoiseModel modelInFile = readNoiseModel(is, smart, noiseFormat,
kernelFunctionType);
SharedNoiseModel modelInFile =
readNoiseModel(is, smart, noiseFormat, kernelFunctionType);
// optional filter
if (maxNr && (id1 >= maxNr || id2 >= maxNr))
@ -369,7 +485,8 @@ GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
is >> id1 >> id2 >> bearing >> range >> bearing_std >> range_std;
}
// A landmark measurement, TODO Frank says: don't know why is converted to bearing-range
// A landmark measurement, TODO Frank says: don't know why is converted to
// bearing-range
if (tag == "LANDMARK") {
double lmx, lmy;
double v1, v2, v3;
@ -380,8 +497,9 @@ GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
bearing = atan2(lmy, lmx);
range = sqrt(lmx * lmx + lmy * lmy);
// In our experience, the x-y covariance on landmark sightings is not very good, so assume
// it describes the uncertainty at a range of 10m, and convert that to bearing/range uncertainty.
// In our experience, the x-y covariance on landmark sightings is not
// very good, so assume it describes the uncertainty at a range of 10m,
// and convert that to bearing/range uncertainty.
if (std::abs(v1 - v3) < 1e-4) {
bearing_std = sqrt(v1 / 10.0);
range_std = sqrt(v1);
@ -389,9 +507,10 @@ GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
bearing_std = 1;
range_std = 1;
if (!haveLandmark) {
cout
<< "Warning: load2D is a very simple dataset loader and is ignoring the\n"
"non-uniform covariance on LANDMARK measurements in this file."
cout << "Warning: load2D is a very simple dataset loader and is "
"ignoring the\n"
"non-uniform covariance on LANDMARK measurements in this "
"file."
<< endl;
haveLandmark = true;
}
@ -407,7 +526,8 @@ GraphAndValues load2D(const string &filename, SharedNoiseModel model, Key maxNr,
// Create noise model
noiseModel::Diagonal::shared_ptr measurementNoise =
noiseModel::Diagonal::Sigmas((Vector(2) << bearing_std, range_std).finished());
noiseModel::Diagonal::Sigmas(
(Vector(2) << bearing_std, range_std).finished());
// Add to graph
*graph += BearingRangeFactor<Pose2, Point2>(id1, L(id2), bearing, range,
@ -437,12 +557,12 @@ GraphAndValues load2D_robust(const string& filename,
/* ************************************************************************* */
void save2D(const NonlinearFactorGraph &graph, const Values &config,
const noiseModel::Diagonal::shared_ptr model, const string& filename) {
const noiseModel::Diagonal::shared_ptr model,
const string &filename) {
fstream stream(filename.c_str(), fstream::out);
// save poses
for (const Values::ConstKeyValuePair &key_value : config) {
const Pose2 &pose = key_value.value.cast<Pose2>();
stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " << pose.y()
@ -450,19 +570,19 @@ void save2D(const NonlinearFactorGraph& graph, const Values& config,
}
// save edges
Matrix R = model->R();
Matrix RR = trans(R) * R; //prod(trans(R),R);
for(boost::shared_ptr<NonlinearFactor> factor_: graph) {
boost::shared_ptr<BetweenFactor<Pose2> > factor =
boost::dynamic_pointer_cast<BetweenFactor<Pose2> >(factor_);
// TODO(frank): why don't we use model in factor?
Matrix3 R = model->R();
Matrix3 RR = R.transpose() * R;
for (auto f : graph) {
auto factor = boost::dynamic_pointer_cast<BetweenFactor<Pose2>>(f);
if (!factor)
continue;
Pose2 pose = factor->measured().inverse();
const Pose2 pose = factor->measured().inverse();
stream << "EDGE2 " << factor->key2() << " " << factor->key1() << " "
<< pose.x() << " " << pose.y() << " " << pose.theta() << " " << RR(0, 0)
<< " " << RR(0, 1) << " " << RR(1, 1) << " " << RR(2, 2) << " "
<< RR(0, 2) << " " << RR(1, 2) << endl;
<< pose.x() << " " << pose.y() << " " << pose.theta() << " "
<< RR(0, 0) << " " << RR(0, 1) << " " << RR(1, 1) << " " << RR(2, 2)
<< " " << RR(0, 2) << " " << RR(1, 2) << endl;
}
stream.close();
@ -491,7 +611,8 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
// save 2D poses
for (const auto &key_value : estimate) {
auto p = dynamic_cast<const GenericValue<Pose2> *>(&key_value.value);
if (!p) continue;
if (!p)
continue;
const Pose2 &pose = p->value();
stream << "VERTEX_SE2 " << key_value.key << " " << pose.x() << " "
<< pose.y() << " " << pose.theta() << endl;
@ -500,7 +621,8 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
// save 3D poses
for (const auto &key_value : estimate) {
auto p = dynamic_cast<const GenericValue<Pose3> *>(&key_value.value);
if (!p) continue;
if (!p)
continue;
const Pose3 &pose = p->value();
const Point3 t = pose.translation();
const auto q = pose.rotation().toQuaternion();
@ -512,7 +634,8 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
// save 2D landmarks
for (const auto &key_value : estimate) {
auto p = dynamic_cast<const GenericValue<Point2> *>(&key_value.value);
if (!p) continue;
if (!p)
continue;
const Point2 &point = p->value();
stream << "VERTEX_XY " << key_value.key << " " << point.x() << " "
<< point.y() << endl;
@ -521,7 +644,8 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
// save 3D landmarks
for (const auto &key_value : estimate) {
auto p = dynamic_cast<const GenericValue<Point3> *>(&key_value.value);
if (!p) continue;
if (!p)
continue;
const Point3 &point = p->value();
stream << "VERTEX_TRACKXYZ " << key_value.key << " " << point.x() << " "
<< point.y() << " " << point.z() << endl;
@ -539,7 +663,7 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
model->print("model\n");
throw invalid_argument("writeG2o: invalid noise model!");
}
Matrix Info = gaussianModel->R().transpose() * gaussianModel->R();
Matrix3 Info = gaussianModel->R().transpose() * gaussianModel->R();
Pose2 pose = factor->measured(); //.inverse();
stream << "EDGE_SE2 " << factor->key1() << " " << factor->key2() << " "
<< pose.x() << " " << pose.y() << " " << pose.theta();
@ -563,7 +687,7 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
model->print("model\n");
throw invalid_argument("writeG2o: invalid noise model!");
}
Matrix Info = gaussianModel->R().transpose() * gaussianModel->R();
Matrix6 Info = gaussianModel->R().transpose() * gaussianModel->R();
const Pose3 pose3D = factor3D->measured();
const Point3 p = pose3D.translation();
const auto q = pose3D.rotation().toQuaternion();
@ -571,7 +695,7 @@ void writeG2o(const NonlinearFactorGraph& graph, const Values& estimate,
<< " " << p.x() << " " << p.y() << " " << p.z() << " " << q.x()
<< " " << q.y() << " " << q.z() << " " << q.w();
Matrix InfoG2o = I_6x6;
Matrix6 InfoG2o = I_6x6;
InfoG2o.block<3, 3>(0, 0) = Info.block<3, 3>(3, 3); // cov translation
InfoG2o.block<3, 3>(3, 3) = Info.block<3, 3>(0, 0); // cov rotation
InfoG2o.block<3, 3>(0, 3) = Info.block<3, 3>(0, 3); // off diagonal
@ -648,31 +772,6 @@ map<Key, Point3> parse3DLandmarks(const string &filename, Key maxNr) {
return parseIntoMap<Point3>(filename, maxNr);
}
/* ************************************************************************* */
// Parse BetweenFactor<T> shared pointers into a vector
template <typename T>
static vector<boost::shared_ptr<BetweenFactor<T>>>
parseIntoVector(const string &filename, Key maxNr = 0) {
ifstream is(filename.c_str());
if (!is)
throw invalid_argument("parse: can not find file " + filename);
vector<boost::shared_ptr<BetweenFactor<T>>> result;
string tag;
while (!is.eof()) {
boost::shared_ptr<BetweenFactor<T>> shared;
is >> shared;
if (shared) {
// optional filter
if (maxNr && (shared->key1() >= maxNr || shared->key1() >= maxNr))
continue;
result.push_back(shared);
}
is.ignore(LINESIZE, '\n');
}
return result;
}
/* ************************************************************************* */
// Parse a symmetric covariance matrix (onlyupper-triangular part is stored)
istream &operator>>(istream &is, Matrix6 &m) {
@ -685,32 +784,31 @@ istream &operator>>(istream &is, Matrix6 &m) {
}
/* ************************************************************************* */
istream &operator>>(istream &is,
boost::shared_ptr<BetweenFactor<Pose3>> &shared) {
struct Measurement3 {
Key id1, id2;
Pose3 pose;
SharedNoiseModel model;
};
istream &operator>>(istream &is, boost::optional<Measurement3> &edge) {
string tag;
is >> tag;
Matrix6 m;
if (tag == "EDGE3") {
Key id1, id2;
double x, y, z;
Rot3 R;
is >> id1 >> id2 >> x >> y >> z >> R;
Pose3 pose(R, {x, y, z});
is >> m;
SharedNoiseModel model = noiseModel::Gaussian::Information(m);
shared.reset(new BetweenFactor<Pose3>(id1, id2, pose, model));
is >> id1 >> id2 >> x >> y >> z >> R >> m;
edge.reset(
{id1, id2, Pose3(R, {x, y, z}), noiseModel::Gaussian::Information(m)});
}
if (tag == "EDGE_SE3:QUAT") {
Key id1, id2;
double x, y, z;
Quaternion q;
is >> id1 >> id2 >> x >> y >> z >> q;
Pose3 pose(q, {x, y, z});
is >> id1 >> id2 >> x >> y >> z >> q >> m;
// EDGE_SE3:QUAT stores covariance in t,R order, unlike GTSAM:
is >> m;
Matrix6 mgtsam;
mgtsam.block<3, 3>(0, 0) = m.block<3, 3>(3, 3); // cov rotation
mgtsam.block<3, 3>(3, 3) = m.block<3, 3>(0, 0); // cov translation
@ -718,29 +816,49 @@ istream &operator>>(istream &is,
mgtsam.block<3, 3>(3, 0) = m.block<3, 3>(3, 0); // off diagonal
SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
shared.reset(new BetweenFactor<Pose3>(id1, id2, pose, model));
edge.reset({id1, id2, Pose3(q, {x, y, z}),
noiseModel::Gaussian::Information(mgtsam)});
}
return is;
}
/* ************************************************************************* */
// Small functor to process the edge into a BetweenFactor<Pose3>::shared_ptr
struct ProcessPose3 {
// The arguments
Key maxNr = 0;
SharedNoiseModel model;
boost::shared_ptr<Sampler> sampler;
// The actual function
BetweenFactor<Pose3>::shared_ptr operator()(const Measurement3 &edge) {
// optional filter
if (maxNr && (edge.id1 >= maxNr || edge.id2 >= maxNr))
return nullptr;
// Get pose and optionally add noise
Pose3 T12 = edge.pose;
if (sampler)
T12 = T12.retract(sampler->sample());
// Create factor
return boost::make_shared<BetweenFactor<Pose3>>(edge.id1, edge.id2, T12,
edge.model);
}
};
/* ************************************************************************* */
BetweenFactorPose3s
parse3DFactors(const string &filename,
const noiseModel::Diagonal::shared_ptr &corruptingNoise,
Key maxNr) {
auto factors = parseIntoVector<Pose3>(filename, maxNr);
ProcessPose3 process;
process.maxNr = maxNr;
if (corruptingNoise) {
Sampler sampler(corruptingNoise);
for (auto factor : factors) {
auto pose = factor->measured();
factor.reset(new BetweenFactor<Pose3>(factor->key1(), factor->key2(),
pose.retract(sampler.sample()),
factor->noiseModel()));
process.sampler = createSampler(corruptingNoise);
}
}
return factors;
return parseToVector<Measurement3, BetweenFactor<Pose3>::shared_ptr>(filename,
process);
}
/* ************************************************************************* */
@ -766,7 +884,8 @@ GraphAndValues load3D(const string& filename) {
}
/* ************************************************************************* */
Rot3 openGLFixedRotation() { // this is due to different convention for cameras in gtsam and openGL
Rot3 openGLFixedRotation() { // this is due to different convention for
// cameras in gtsam and openGL
/* R = [ 1 0 0
* 0 -1 0
* 0 0 -1]
@ -973,19 +1092,22 @@ bool writeBAL(const string& filename, SfmData &data) {
for (size_t j = 0; j < data.number_tracks(); j++) { // for each 3D point j
const SfmTrack &track = data.tracks[j];
for (size_t k = 0; k < track.number_measurements(); k++) { // for each observation of the 3D point j
for (size_t k = 0; k < track.number_measurements();
k++) { // for each observation of the 3D point j
size_t i = track.measurements[k].first; // camera id
double u0 = data.cameras[i].calibration().u0();
double v0 = data.cameras[i].calibration().v0();
if (u0 != 0 || v0 != 0) {
cout
<< "writeBAL has not been tested for calibration with nonzero (u0,v0)"
cout << "writeBAL has not been tested for calibration with nonzero "
"(u0,v0)"
<< endl;
}
double pixelBALx = track.measurements[k].second.x() - u0; // center of image is the origin
double pixelBALy = -(track.measurements[k].second.y() - v0); // center of image is the origin
double pixelBALx = track.measurements[k].second.x() -
u0; // center of image is the origin
double pixelBALy = -(track.measurements[k].second.y() -
v0); // center of image is the origin
Point2 pixelMeasurement(pixelBALx, pixelBALy);
os << i /*camera id*/ << " " << j /*point id*/ << " "
<< pixelMeasurement.x() /*u of the pixel*/ << " "
@ -1029,8 +1151,10 @@ bool writeBALfromValues(const string& filename, const SfmData &data,
// Store poses or cameras in SfmData
size_t nrPoses = values.count<Pose3>();
if (nrPoses == dataValues.number_cameras()) { // we only estimated camera poses
for (size_t i = 0; i < dataValues.number_cameras(); i++) { // for each camera
if (nrPoses ==
dataValues.number_cameras()) { // we only estimated camera poses
for (size_t i = 0; i < dataValues.number_cameras();
i++) { // for each camera
Key poseKey = symbol('x', i);
Pose3 pose = values.at<Pose3>(poseKey);
Cal3Bundler K = dataValues.cameras[i].calibration();
@ -1039,29 +1163,29 @@ bool writeBALfromValues(const string& filename, const SfmData &data,
}
} else {
size_t nrCameras = values.count<Camera>();
if (nrCameras == dataValues.number_cameras()) { // we only estimated camera poses and calibration
if (nrCameras == dataValues.number_cameras()) { // we only estimated camera
// poses and calibration
for (size_t i = 0; i < nrCameras; i++) { // for each camera
Key cameraKey = i; // symbol('c',i);
Camera camera = values.at<Camera>(cameraKey);
dataValues.cameras[i] = camera;
}
} else {
cout
<< "writeBALfromValues: different number of cameras in SfM_dataValues (#cameras "
cout << "writeBALfromValues: different number of cameras in "
"SfM_dataValues (#cameras "
<< dataValues.number_cameras() << ") and values (#cameras "
<< nrPoses << ", #poses " << nrCameras << ")!!"
<< endl;
<< nrPoses << ", #poses " << nrCameras << ")!!" << endl;
return false;
}
}
// Store 3D points in SfmData
size_t nrPoints = values.count<Point3>(), nrTracks = dataValues.number_tracks();
size_t nrPoints = values.count<Point3>(),
nrTracks = dataValues.number_tracks();
if (nrPoints != nrTracks) {
cout
<< "writeBALfromValues: different number of points in SfM_dataValues (#points= "
<< nrTracks << ") and values (#points "
<< nrPoints << ")!!" << endl;
cout << "writeBALfromValues: different number of points in "
"SfM_dataValues (#points= "
<< nrTracks << ") and values (#points " << nrPoints << ")!!" << endl;
}
for (size_t j = 0; j < nrTracks; j++) { // for each point
@ -1099,4 +1223,4 @@ Values initialCamerasAndPointsEstimate(const SfmData& db) {
return initial;
}
} // \namespace gtsam
} // namespace gtsam

24
gtsam/slam/dataset.h
View File

@ -77,16 +77,6 @@ typedef std::pair<Key, Pose2> IndexedPose;
typedef std::pair<Key, Point2> IndexedLandmark;
typedef std::pair<std::pair<Key, Key>, Pose2> IndexedEdge;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/**
* Parse TORO/G2O vertex "id x y yaw"
* @param is input stream
* @param tag string parsed from input stream, will only parse if vertex type
*/
GTSAM_EXPORT boost::optional<IndexedPose> parseVertex(std::istream& is,
const std::string& tag);
#endif
/**
* Parse TORO/G2O vertex "id x y yaw"
* @param is input stream
@ -118,7 +108,8 @@ using BetweenFactorPose2s =
/// Parse edges in 2D g2o graph file into a set of BetweenFactors.
GTSAM_EXPORT BetweenFactorPose2s parse2DFactors(
const std::string &filename,
const noiseModel::Diagonal::shared_ptr &corruptingNoise = nullptr);
const noiseModel::Diagonal::shared_ptr &corruptingNoise = nullptr,
Key maxNr = 0);
/// Parse vertices in 2D g2o graph file into a map of Pose2s.
GTSAM_EXPORT std::map<Key, Pose2> parse2DPoses(const std::string &filename,
@ -343,4 +334,15 @@ GTSAM_EXPORT Values initialCamerasEstimate(const SfmData& db);
*/
GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfmData& db);
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/**
* Parse TORO/G2O vertex "id x y yaw"
* @param is input stream
* @param tag string parsed from input stream, will only parse if vertex type
*/
GTSAM_EXPORT boost::optional<IndexedPose> parseVertex(std::istream &is,
const std::string &tag) {
return parseVertexPose(is, tag);
}
#endif
} // namespace gtsam

14
gtsam/slam/tests/testDataset.cpp
View File

@ -104,13 +104,13 @@ TEST(dataSet, load2D) {
boost::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(0));
EXPECT(assert_equal(expected, *actual));
// // Check factor parsing
// const auto actualFactors = parse2DFactors(filename);
// for (size_t i : {0, 1, 2, 3, 4, 5}) {
// EXPECT(assert_equal(
// *boost::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(i)),
// *actualFactors[i], 1e-5));
// }
// Check factor parsing
const auto actualFactors = parse2DFactors(filename);
for (size_t i : {0, 1, 2, 3, 4, 5}) {
EXPECT(assert_equal(
*boost::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(i)),
*actualFactors[i], 1e-5));
}
// Check pose parsing
const auto actualPoses = parse2DPoses(filename);