78 lines
1.8 KiB
Matlab
78 lines
1.8 KiB
Matlab
load beijing.mat;
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load beijing_angles.mat;
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load beijing_graph.mat;
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load beijing_config.mat;
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cov = [ 0.25, 0, 0; 0, 0.25, 0; 0, 0, 0.01];
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factors = Pose2Graph;
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factors2 = Pose2Graph;
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ord = Ordering();
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ord2 = Ordering();
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for i=1:length(ways)
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if mod(i,50) == 0
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fprintf(1, 'processing way %d\n', i);
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end
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for j=1:length(ways{i})-1
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id1 = ways{i}(j);
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id2 = ways{i}(j+1);
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key1 = sprintf('x%d', id1);
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key2 = sprintf('x%d', id2);
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delta_x = points(id1,:) - points(id2,:);
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delta_angle = angles(id1) - angles(id2);
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measured = Pose2(delta_x(1), delta_x(2), delta_angle);
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if pred(id1) == id2 || pred(id2) == id1 %% in the spanning tree
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factor=Pose2Factor(key1,key2,measured, cov);
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factors.push_back(factor);
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ord.push_back(key1);
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ord.push_back(key2);
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else %% not in the spanning tree
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factors2.push_back(Pose2Factor(key1,key2,measured, cov));
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ord2.push_back(key1);
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ord2.push_back(key2);
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end
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end
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end
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ord.unique();
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ord2.unique();
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if 0
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config=Pose2Config();
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n=size(points,1);
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for j=1:n
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pose=Pose2(points(j,1),points(j,2),angles(j));
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key = sprintf('x%d', j);
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config.insert(key,pose);
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if mod(j,1000) == 0
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key
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end
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end
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save('beijing_config.mat','config');
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end
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amd_ord=factors.getOrdering_(); % does not work
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LFG=factors.linearize_(config);
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ijs=LFG.sparse(ord);
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A=sparse(ijs(1,:),ijs(2,:),ijs(3,:));
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figure(1)
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spy(A);
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%save('beijing_factors.mat', 'factors');
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LFG2=factors2.linearize_(config);
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ijs2=LFG2.sparse(ord2);
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A2=sparse(ijs2(1,:),ijs2(2,:),ijs2(3,:));
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figure(2)
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spy(A2);
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% show R factor
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P = COLAMD(A);
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figure(3)
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spy(A(:,P))
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R = qr(A(:,P),0);
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figure(4)
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spy(R)
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