82 lines
2.1 KiB
C++
82 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
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file timeSequentialOnDataset.cpp
|
|
* @author Richard Roberts
|
|
* @date Oct 7, 2010
|
|
*/
|
|
|
|
#include <gtsam/base/timing.h>
|
|
#include <gtsam/slam/dataset.h>
|
|
#include <gtsam/linear/GaussianFactorGraph.h>
|
|
#include <gtsam/linear/GaussianMultifrontalSolver.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
using namespace boost;
|
|
|
|
int main(int argc, char *argv[]) {
|
|
|
|
string datasetname;
|
|
bool soft_prior = true;
|
|
if(argc > 1)
|
|
datasetname = argv[1];
|
|
else
|
|
datasetname = "intel";
|
|
|
|
// check if there should be a constraint
|
|
if (argc == 3 && string(argv[2]).compare("-c") == 0)
|
|
soft_prior = false;
|
|
|
|
// find the number of trials - default is 10
|
|
size_t nrTrials = 10;
|
|
if (argc == 3 && string(argv[2]).compare("-c") != 0)
|
|
nrTrials = strtoul(argv[2], NULL, 10);
|
|
else if (argc == 4)
|
|
nrTrials = strtoul(argv[3], NULL, 10);
|
|
|
|
pair<shared_ptr<pose2SLAM::Graph>, shared_ptr<Values> > data = load2D(dataset(datasetname));
|
|
|
|
// Add a prior on the first pose
|
|
if (soft_prior)
|
|
data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005));
|
|
else
|
|
data.first->addPoseConstraint(0, Pose2());
|
|
|
|
tic_(1, "order");
|
|
Ordering::shared_ptr ordering(data.first->orderingCOLAMD(*data.second));
|
|
toc_(1, "order");
|
|
tictoc_print_();
|
|
|
|
tic_(2, "linearize");
|
|
GaussianFactorGraph::shared_ptr gfg(data.first->linearize(*data.second, *ordering)->dynamicCastFactors<GaussianFactorGraph>());
|
|
toc_(2, "linearize");
|
|
tictoc_print_();
|
|
|
|
for(size_t trial = 0; trial < nrTrials; ++trial) {
|
|
|
|
tic_(3, "solve");
|
|
tic(1, "construct solver");
|
|
GaussianMultifrontalSolver solver(*gfg);
|
|
toc(1, "construct solver");
|
|
tic(2, "optimize");
|
|
VectorValues soln(*solver.optimize());
|
|
toc(2, "optimize");
|
|
toc_(3, "solve");
|
|
|
|
tictoc_print_();
|
|
}
|
|
|
|
return 0;
|
|
|
|
}
|