89 lines
2.7 KiB
C++
89 lines
2.7 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 Pose3SLAMExample_initializePose3.cpp
|
|
* @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3
|
|
* Syntax for the script is ./Pose3SLAMExample_changeKeys input.g2o rewritted.g2o
|
|
* @date Aug 25, 2014
|
|
* @author Luca Carlone
|
|
*/
|
|
|
|
#include <gtsam/slam/dataset.h>
|
|
#include <gtsam/slam/BetweenFactor.h>
|
|
#include <fstream>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
int main(const int argc, const char *argv[]) {
|
|
|
|
// Read graph from file
|
|
string g2oFile;
|
|
if (argc < 2)
|
|
g2oFile = findExampleDataFile("pose3example.txt");
|
|
else
|
|
g2oFile = argv[1];
|
|
|
|
NonlinearFactorGraph::shared_ptr graph;
|
|
Values::shared_ptr initial;
|
|
bool is3D = true;
|
|
boost::tie(graph, initial) = readG2o(g2oFile, is3D);
|
|
|
|
bool add = false;
|
|
Key firstKey = 8646911284551352320;
|
|
|
|
std::cout << "Using reference key: " << firstKey << std::endl;
|
|
if(add)
|
|
std::cout << "adding key " << std::endl;
|
|
else
|
|
std::cout << "subtracting key " << std::endl;
|
|
|
|
|
|
if (argc < 3) {
|
|
std::cout << "Please provide output file to write " << std::endl;
|
|
} else {
|
|
const string inputFileRewritten = argv[2];
|
|
std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl;
|
|
// Additional: rewrite input with simplified keys 0,1,...
|
|
Values simpleInitial;
|
|
for (const auto k : initial->keys()) {
|
|
Key key;
|
|
if (add)
|
|
key = k + firstKey;
|
|
else
|
|
key = k - firstKey;
|
|
|
|
simpleInitial.insert(key, initial->at(k));
|
|
}
|
|
NonlinearFactorGraph simpleGraph;
|
|
for(const std::shared_ptr<NonlinearFactor>& factor: *graph) {
|
|
std::shared_ptr<BetweenFactor<Pose3> > pose3Between =
|
|
std::dynamic_pointer_cast<BetweenFactor<Pose3> >(factor);
|
|
if (pose3Between){
|
|
Key key1, key2;
|
|
if(add){
|
|
key1 = pose3Between->key<1>() + firstKey;
|
|
key2 = pose3Between->key<2>() + firstKey;
|
|
}else{
|
|
key1 = pose3Between->key<1>() - firstKey;
|
|
key2 = pose3Between->key<2>() - firstKey;
|
|
}
|
|
NonlinearFactor::shared_ptr simpleFactor(
|
|
new BetweenFactor<Pose3>(key1, key2, pose3Between->measured(), pose3Between->noiseModel()));
|
|
simpleGraph.add(simpleFactor);
|
|
}
|
|
}
|
|
writeG2o(simpleGraph, simpleInitial, inputFileRewritten);
|
|
}
|
|
return 0;
|
|
}
|