gtsam/examples/Pose3SLAMExample_initialize...

94 lines
3.4 KiB
C++

/* ----------------------------------------------------------------------------
* 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/InitializePose3.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/PriorFactor.h>
#include <fstream>
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("pose3example.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));
Key firstKey = 0;
BOOST_FOREACH(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 << "Initializing Pose3 - chordal relaxation" << std::endl;
Values initialization = InitializePose3::initialize(graphWithPrior);
std::cout << "done!" << std::endl;
if (argc < 3) {
initialization.print("initialization");
} else {
const string outputFile = argv[2];
std::cout << "Writing results to file: " << outputFile << std::endl;
writeG2o(*graph, initialization, outputFile);
std::cout << "done! " << std::endl;
// This should be deleted: only for debug
// if (argc == 4){
// const string inputFileRewritten = argv[3];
// std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl;
// // Additional: rewrite input with simplified keys 0,1,...
// Values simpleInitial;
// BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, *initial) {
// Key key = key_value.key - firstKey;
// simpleInitial.insert(key, initial->at(key_value.key));
// }
// NonlinearFactorGraph simpleGraph;
// BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, *graph) {
// boost::shared_ptr<BetweenFactor<Pose3> > pose3Between =
// boost::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor);
// if (pose3Between){
// Key key1 = pose3Between->key1() - firstKey;
// Key key2 = pose3Between->key2() - firstKey;
// NonlinearFactor::shared_ptr simpleFactor(
// new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->get_noiseModel()));
// simpleGraph.add(simpleFactor);
// }
// }
// writeG2o(simpleGraph, simpleInitial, inputFileRewritten);
// }
}
return 0;
}