82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeSequentialOnDataset.cpp
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* @author Richard Roberts
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* @date Oct 7, 2010
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*/
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#include <gtsam/base/timing.h>
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#include <gtsam/slam/dataset.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/linear/GaussianSequentialSolver.h>
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using namespace std;
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using namespace gtsam;
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using namespace boost;
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int main(int argc, char *argv[]) {
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string datasetname;
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bool soft_prior = true;
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if(argc > 1)
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datasetname = argv[1];
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else
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datasetname = "intel";
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// check if there should be a constraint
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if (argc == 3 && string(argv[2]).compare("-c") == 0)
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soft_prior = false;
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// find the number of trials - default is 10
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size_t nrTrials = 10;
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if (argc == 3 && string(argv[2]).compare("-c") != 0)
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nrTrials = strtoul(argv[2], NULL, 10);
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else if (argc == 4)
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nrTrials = strtoul(argv[3], NULL, 10);
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pair<boost::shared_ptr<pose2SLAM::Graph>, boost::shared_ptr<Values> > data = load2D(dataset(datasetname));
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// Add a prior on the first pose
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if (soft_prior)
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data.first->addPrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005));
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else
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data.first->addPoseConstraint(0, Pose2());
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tic_(1, "order");
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Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second));
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toc_(1, "order");
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tictoc_print_();
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tic_(2, "linearize");
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GaussianFactorGraph::shared_ptr gfg(data.first->linearize(*data.second, *ordering)->dynamicCastFactors<GaussianFactorGraph>());
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toc_(2, "linearize");
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tictoc_print_();
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for(size_t trial = 0; trial < nrTrials; ++trial) {
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tic_(3, "solve");
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tic(1, "construct solver");
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GaussianSequentialSolver solver(*gfg);
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toc(1, "construct solver");
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tic(2, "optimize");
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VectorValues soln(*solver.optimize());
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toc(2, "optimize");
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toc_(3, "solve");
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tictoc_print_();
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}
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return 0;
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}
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