57 lines
1.8 KiB
Matlab
57 lines
1.8 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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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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%
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% See LICENSE for the license information
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%
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% @brief Read graph from file and perform GraphSLAM
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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import gtsam.*
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%% Create a hexagon of poses
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hexagon = circlePose3(6,1.0);
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p0 = hexagon.at(0);
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p1 = hexagon.at(1);
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%% create a Pose graph with one equality constraint and one measurement
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fg = NonlinearFactorGraph;
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fg.add(NonlinearEqualityPose3(0, p0));
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delta = p0.between(p1);
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covariance = noiseModel.Diagonal.Sigmas([5*pi/180; 5*pi/180; 5*pi/180; 0.05; 0.05; 0.05]);
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fg.add(BetweenFactorPose3(0,1, delta, covariance));
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fg.add(BetweenFactorPose3(1,2, delta, covariance));
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fg.add(BetweenFactorPose3(2,3, delta, covariance));
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fg.add(BetweenFactorPose3(3,4, delta, covariance));
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fg.add(BetweenFactorPose3(4,5, delta, covariance));
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fg.add(BetweenFactorPose3(5,0, delta, covariance));
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%% Create initial config
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initial = Values;
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s = 0.10;
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initial.insert(0, p0);
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initial.insert(1, hexagon.at(1).retract(s*randn(6,1)));
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initial.insert(2, hexagon.at(2).retract(s*randn(6,1)));
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initial.insert(3, hexagon.at(3).retract(s*randn(6,1)));
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initial.insert(4, hexagon.at(4).retract(s*randn(6,1)));
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initial.insert(5, hexagon.at(5).retract(s*randn(6,1)));
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%% Plot Initial Estimate
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cla
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plot3DTrajectory(initial, 'g-*');
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%% optimize
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optimizer = DoglegOptimizer(fg, initial);
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result = optimizer.optimizeSafely();
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%% Show Result
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hold on; plot3DTrajectory(result, 'b-*', true, 0.3);
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axis([-2 2 -2 2 -1 1]);
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axis equal
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view(-37,40)
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colormap hot
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result.print(sprintf('\nFinal result:\n'));
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