69 lines
2.1 KiB
C++
69 lines
2.1 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
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/*
|
|
* saveGraph.cpp
|
|
* Author: Richard Roberts
|
|
*/
|
|
|
|
#include <iostream>
|
|
#include <fstream>
|
|
#include <boost/format.hpp>
|
|
#include <boost/foreach.hpp>
|
|
#include <gtsam/geometry/Point2.h>
|
|
#include <gtsam/inference/SymbolicFactorGraph.h>
|
|
#include <gtsam/inference/SymbolicBayesNet.h>
|
|
#include <gtsam/inference/inference-inl.h>
|
|
#include <gtsam/nonlinear/LieValues-inl.h>
|
|
|
|
using namespace std;
|
|
|
|
namespace gtsam {
|
|
|
|
INSTANTIATE_LIE_CONFIG(Symbol, Point2)
|
|
|
|
/* ************************************************************************* */
|
|
void saveGraph(const SymbolicFactorGraph& fg, const SymbolicValues& config, const std::string& s) {
|
|
|
|
Symbol key;
|
|
Point2 pt;
|
|
float scale = 100;
|
|
|
|
string dotfile = s + ".dot";
|
|
ofstream of(dotfile.c_str());
|
|
of << "graph G{" << endl;
|
|
of << "bgcolor=\"transparent\";" << endl;
|
|
|
|
BOOST_FOREACH(boost::tie(key, pt), config){
|
|
of << (string)key << "[label=\"" << (string)key << "\"][pos=\"" << pt.x()*scale << "," << pt.y()*scale << "\"];" << endl;
|
|
}
|
|
|
|
int index = 0;
|
|
BOOST_FOREACH(const SymbolicFactorGraph::sharedFactor& factor, fg) {
|
|
index++;
|
|
Point2 center;
|
|
BOOST_FOREACH(const Symbol& key, factor->keys())
|
|
center = center + config[key];
|
|
center = Point2(center.x() / factor->keys().size(), center.y() / factor->keys().size());
|
|
of << "f" << index << "[pos=\"" << center.x()*scale << "," << center.y()*scale << "\"][shape=\"point\"];" << endl;
|
|
BOOST_FOREACH(const Symbol& key, factor->keys())
|
|
of << "f" << index << "--" << (string)key << endl;
|
|
}
|
|
of<<"}";
|
|
of.close();
|
|
|
|
string cmd = boost::str(boost::format("neato -s -n -Tpdf %s -o %s.pdf") % dotfile % s);
|
|
system(cmd.c_str());
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
}
|