41 lines
1.3 KiB
Matlab
41 lines
1.3 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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%% Find data file
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N = 2500;
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% dataset = 'sphere_smallnoise.graph';
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% dataset = 'sphere2500_groundtruth.txt';
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dataset = 'sphere2500.txt';
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datafile = findExampleDataFile(dataset);
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%% Initialize graph, initial estimate, and odometry noise
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model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]);
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[graph,initial]=load3D(datafile,model,true,N);
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%% Plot Initial Estimate
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cla
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first = initial.at(0);
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plot3(first.x(),first.y(),first.z(),'r*'); hold on
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plot3DTrajectory(initial,'g-',false);
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drawnow;
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%% Read again, now with all constraints, and optimize
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graph = load3D(datafile, model, false, N);
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graph.add(NonlinearEqualityPose3(0, first));
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optimizer = LevenbergMarquardtOptimizer(graph, initial);
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result = optimizer.optimizeSafely();
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plot3DTrajectory(result, 'r-', false); axis equal;
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view(3); axis equal; |