63 lines
1.9 KiB
Matlab
63 lines
1.9 KiB
Matlab
% TSAMFactorsExample
|
|
% Frank Dellaert, May 2014
|
|
|
|
import gtsam.*;
|
|
|
|
% noise models
|
|
noisePrior = noiseModel.Diagonal.Sigmas([100; 100; 100]);
|
|
noiseDelta = noiseModel.Isotropic.Sigma(2, 0.1);
|
|
noiseOdom = noiseModel.Diagonal.Sigmas([0.1; 0.1; 0.05]);
|
|
|
|
% Example is 2 landmarks 1 and 2, 2 poses 10 and 20, 2 base nodes 100 and 200
|
|
% l1 l2
|
|
% + +
|
|
% - b - p - p - b
|
|
% +---+---+---+
|
|
|
|
% True values
|
|
b1 = Pose2(0,0,0);
|
|
b2 = Pose2(2,0,0);
|
|
l1 = Point2(0,1);
|
|
l2 = Point2(2,1);
|
|
|
|
% Create a graph
|
|
graph = NonlinearFactorGraph;
|
|
origin = Pose2;
|
|
graph.add(gtsam.PriorFactorPose2(10, origin, noisePrior))
|
|
graph.add(gtsam.PriorFactorPose2(20, origin, noisePrior))
|
|
graph.add(gtsam.PriorFactorPose2(100, origin, noisePrior))
|
|
graph.add(DeltaFactor(10, 1, b1.transform_to(l1), noiseDelta))
|
|
graph.add(DeltaFactor(20, 1, b2.transform_to(l2), noiseDelta))
|
|
graph.add(DeltaFactorBase(100,10, 200,2, b1.transform_to(l2), noiseDelta))
|
|
graph.add(DeltaFactorBase(200,20, 100,1, b2.transform_to(l1), noiseDelta))
|
|
graph.add(OdometryFactorBase(100,10,200,20, Pose2(2,0,0), noiseOdom))
|
|
|
|
% Initial values
|
|
initial = Values;
|
|
initial.insert(100,origin);
|
|
initial.insert(10,origin);
|
|
initial.insert(1,l1);
|
|
initial.insert(2,l2);
|
|
initial.insert(20,origin);
|
|
initial.insert(200,origin);
|
|
|
|
% optimize
|
|
params = LevenbergMarquardtParams;
|
|
% params.setVerbosity('ERROR');
|
|
optimizer = LevenbergMarquardtOptimizer(graph, initial, params);
|
|
result = optimizer.optimize();
|
|
|
|
% Check result
|
|
CHECK('error',result.atPose2(100).equals(b1,1e-5))
|
|
CHECK('error',result.atPose2(10).equals(origin,1e-5))
|
|
CHECK('error',result.atPoint2(1).equals(Point2(0,1),1e-5))
|
|
CHECK('error',result.atPoint2(2).equals(Point2(0,1),1e-5))
|
|
CHECK('error',result.atPose2(20).equals(origin,1e-5))
|
|
CHECK('error',result.atPose2(200).equals(b2,1e-5))
|
|
|
|
% Check error
|
|
CHECK('error',abs(graph.error(result))<1e-9)
|
|
for i=0:7
|
|
CHECK('error',abs(graph.at(i).error(result))<1e-9)
|
|
end
|