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Merge branch 'develop' of github.com:mbrossar/gtsam into develop

release/4.3a0
Varun Agrawal 2020-03-29 12:01:08 -04:00
parent 8194b931fe 3d7ce45de6
commit e7bdc05689
2 changed files with 92 additions and 0 deletions
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examples/Data/pose3Localizationexample.txt Normal file
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VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
VERTEX_SE3:QUAT 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230
VERTEX_SE3:QUAT 2 1.993500 0.023275 0.003793 -0.351729 -0.597838 0.584174 0.421446
VERTEX_SE3:QUAT 3 2.004291 1.024305 0.018047 0.331798 -0.200659 0.919323 0.067024
VERTEX_SE3:QUAT 4 0.999908 1.055073 0.020212 -0.035697 -0.462490 0.445933 0.765488
EDGE_SE3:QUAT 0 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 1 2 0.523923 0.776654 0.326659 0.311512 0.656877 -0.678505 0.105373 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 2 3 0.910927 0.055169 -0.411761 0.595795 -0.561677 0.079353 0.568551 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
EDGE_SE3:QUAT 3 4 0.775288 0.228798 -0.596923 -0.592077 0.303380 -0.513226 0.542221 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000

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examples/Pose3Localization.cpp Normal file
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/* ----------------------------------------------------------------------------
* 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
* -------------------------------------------------------------------------- */
/**
* @file Pose3SLAMExample_initializePose3.cpp
* @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3
* Syntax for the script is ./Pose3SLAMExample_initializePose3 input.g2o output.g2o
* @date Aug 25, 2014
* @author Luca Carlone
*/
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <fstream>
#include <gtsam/nonlinear/Marginals.h>
using namespace std;
using namespace gtsam;
int main(const int argc, const char *argv[]) {
// Read graph from file
string g2oFile;
if (argc < 2)
g2oFile = findExampleDataFile("pose3Localizationexample.txt");
else
g2oFile = argv[1];
NonlinearFactorGraph::shared_ptr graph;
Values::shared_ptr initial;
bool is3D = true;
boost::tie(graph, initial) = readG2o(g2oFile, is3D);
// Add prior on the first key
NonlinearFactorGraph graphWithPrior = *graph;
noiseModel::Diagonal::shared_ptr priorModel = //
noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
Key firstKey = 0;
for(const Values::ConstKeyValuePair& key_value: *initial) {
std::cout << "Adding prior to g2o file " << std::endl;
firstKey = key_value.key;
graphWithPrior.add(PriorFactor<Pose3>(firstKey, Pose3(), priorModel));
break;
}
std::cout << "Optimizing the factor graph" << std::endl;
GaussNewtonParams params;
params.setVerbosity("TERMINATION"); // this will show info about stopping conditions
GaussNewtonOptimizer optimizer(graphWithPrior, *initial, params);
Values result = optimizer.optimize();
std::cout << "Optimization complete" << std::endl;
std::cout << "initial error=" <<graph->error(*initial)<< std::endl;
std::cout << "final error=" <<graph->error(result)<< std::endl;
if (argc < 3) {
result.print("result");
} else {
const string outputFile = argv[2];
std::cout << "Writing results to file: " << outputFile << std::endl;
writeG2o(*graph, result, outputFile);
std::cout << "done! " << std::endl;
}
// Calculate and print marginal covariances for all variables
Marginals marginals(*graph, result);
for(const auto& key_value: result) {
auto p = dynamic_cast<const GenericValue<Pose3>*>(&key_value.value);
if (!p) continue;
std::cout << marginals.marginalCovariance(key_value.key) << endl;
}
return 0;
}