75 lines
2.2 KiB
C++
75 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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* Solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
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*/
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#include <boost/shared_ptr.hpp>
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#include <gtsam/slam/pose2SLAM.h>
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#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
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using namespace std;
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using namespace gtsam;
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using namespace pose2SLAM;
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Graph graph;
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Values initial;
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Values result;
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/* ************************************************************************* */
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int main(void) {
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/* generate synthetic data */
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const SharedGaussian sigma(noiseModel::Unit::Create(0.1));
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Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9);
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// create a 3 by 3 grid
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// x3 x6 x9
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// x2 x5 x8
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// x1 x4 x7
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graph.addConstraint(x1,x2,Pose2(0,2,0),sigma) ;
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graph.addConstraint(x2,x3,Pose2(0,2,0),sigma) ;
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graph.addConstraint(x4,x5,Pose2(0,2,0),sigma) ;
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graph.addConstraint(x5,x6,Pose2(0,2,0),sigma) ;
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graph.addConstraint(x7,x8,Pose2(0,2,0),sigma) ;
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graph.addConstraint(x8,x9,Pose2(0,2,0),sigma) ;
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graph.addConstraint(x1,x4,Pose2(2,0,0),sigma) ;
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graph.addConstraint(x4,x7,Pose2(2,0,0),sigma) ;
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graph.addConstraint(x2,x5,Pose2(2,0,0),sigma) ;
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graph.addConstraint(x5,x8,Pose2(2,0,0),sigma) ;
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graph.addConstraint(x3,x6,Pose2(2,0,0),sigma) ;
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graph.addConstraint(x6,x9,Pose2(2,0,0),sigma) ;
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graph.addPrior(x1, Pose2(0,0,0), sigma) ;
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initial.insert(x1, Pose2( 0, 0, 0));
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initial.insert(x2, Pose2( 0, 2.1, 0.01));
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initial.insert(x3, Pose2( 0, 3.9,-0.01));
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initial.insert(x4, Pose2(2.1,-0.1, 0));
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initial.insert(x5, Pose2(1.9, 2.1, 0.02));
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initial.insert(x6, Pose2(2.0, 3.9,-0.02));
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initial.insert(x7, Pose2(4.0, 0.1, 0.03 ));
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initial.insert(x8, Pose2(3.9, 2.1, 0.01));
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initial.insert(x9, Pose2(4.1, 3.9,-0.01));
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/* done */
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graph.print("full graph") ;
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initial.print("initial estimate");
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result = optimizeSPCG(graph, initial);
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result.print("final result") ;
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return 0 ;
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}
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