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parseArguments function

release/4.3a0
Varun Agrawal 2025-02-06 17:10:37 -05:00
parent 54c603d627
commit f7b798e089
1 changed files with 32 additions and 4 deletions
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36
examples/ISAM2_City10000.cpp
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@ -50,7 +50,7 @@ class Experiment {
// false: run original iSAM2 without ambiguities // false: run original iSAM2 without ambiguities
// true: run original iSAM2 with ambiguities // true: run original iSAM2 with ambiguities
const bool isWithAmbiguity_; const bool isWithAmbiguity;
private: private:
ISAM2 isam2_; ISAM2 isam2_;
@ -61,7 +61,7 @@ class Experiment {
public: public:
/// Construct with filename of experiment to run /// Construct with filename of experiment to run
explicit Experiment(const std::string& filename, bool isWithAmbiguity = false) explicit Experiment(const std::string& filename, bool isWithAmbiguity = false)
: dataset_(filename), isWithAmbiguity_(isWithAmbiguity) { : dataset_(filename), isWithAmbiguity(isWithAmbiguity) {
ISAM2Params parameters; ISAM2Params parameters;
parameters.optimizationParams = gtsam::ISAM2GaussNewtonParams(0.0); parameters.optimizationParams = gtsam::ISAM2GaussNewtonParams(0.0);
parameters.relinearizeThreshold = 0.01; parameters.relinearizeThreshold = 0.01;
@ -101,7 +101,7 @@ class Experiment {
size_t numMeasurements = poseArray.size(); size_t numMeasurements = poseArray.size();
Pose2 odomPose; Pose2 odomPose;
if (isWithAmbiguity_) { if (isWithAmbiguity) {
// Get wrong intentionally // Get wrong intentionally
int id = index % numMeasurements; int id = index % numMeasurements;
odomPose = Pose2(poseArray[id]); odomPose = Pose2(poseArray[id]);
@ -116,7 +116,7 @@ class Experiment {
} else { // loop } else { // loop
int id = index % numMeasurements; int id = index % numMeasurements;
if (isWithAmbiguity_ && id % 2 == 0) { if (isWithAmbiguity && id % 2 == 0) {
graph_.add(BetweenFactor<Pose2>(X(keyS), X(keyT), odomPose, graph_.add(BetweenFactor<Pose2>(X(keyS), X(keyT), odomPose,
kPoseNoiseModel)); kPoseNoiseModel));
} else { } else {
@ -178,6 +178,30 @@ class Experiment {
} }
}; };
/* ************************************************************************* */
// Function to parse command-line arguments
void parseArguments(int argc, char* argv[], size_t& maxLoopCount,
bool& isWithAmbiguity) {
for (int i = 1; i < argc; ++i) {
std::string arg = argv[i];
if (arg == "--max-loop-count" && i + 1 < argc) {
maxLoopCount = std::stoul(argv[++i]);
} else if (arg == "--is-with-ambiguity" && i + 1 < argc) {
isWithAmbiguity = bool(std::stoul(argv[++i]));
} else if (arg == "--help") {
std::cout << "Usage: " << argv[0] << " [options]\n"
<< "Options:\n"
<< " --max-loop-count <value> Set the maximum loop "
"count (default: 2000)\n"
<< " --is-with-ambiguity <value=0/1> Set whether to use "
"ambiguous measurements "
"(default: false)\n"
<< " --help Show this help message\n";
std::exit(0);
}
}
}
/* ************************************************************************* */ /* ************************************************************************* */
int main(int argc, char* argv[]) { int main(int argc, char* argv[]) {
Experiment experiment(findExampleDataFile("T1_City10000_04.txt")); Experiment experiment(findExampleDataFile("T1_City10000_04.txt"));
@ -186,6 +210,10 @@ int main(int argc, char* argv[]) {
// Experiment experiment("../data/mh_T1_T3_City10000_04.txt"); //Type #1 + // Experiment experiment("../data/mh_T1_T3_City10000_04.txt"); //Type #1 +
// Type #3 // Type #3
// Parse command-line arguments
parseArguments(argc, argv, experiment.maxLoopCount,
experiment.isWithAmbiguity);
// Run the experiment // Run the experiment
experiment.run(); experiment.run();