30 lines
818 B
Matlab
30 lines
818 B
Matlab
function [graph,initial] = load2D(filename,model)
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% load2D: read TORO pose graph
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% cannot read noise model from file yet, uses specified model
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fid = fopen(filename);
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if fid < 0
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error(['load2D: Cannot open file ' filename]);
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end
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% scan all lines into a cell array
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columns=textscan(fid,'%s','delimiter','\n');
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fclose(fid);
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lines=columns{1};
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% loop over lines and add vertices
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graph = pose2SLAM.Graph;
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initial = pose2SLAM.Values;
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n=size(lines,1);
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for i=1:n
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line_i=lines{i};
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if strcmp('VERTEX2',line_i(1:7))
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v = textscan(line_i,'%s %d %f %f %f',1);
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initial.insertPose(v{2}, gtsam.Pose2(v{3}, v{4}, v{5}));
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elseif strcmp('EDGE2',line_i(1:5))
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e = textscan(line_i,'%s %d %d %f %f %f',1);
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graph.addRelativePose(e{2}, e{3}, gtsam.Pose2(e{4}, e{5}, e{6}), model);
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end
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end
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