57 lines
1.7 KiB
Matlab
57 lines
1.7 KiB
Matlab
function [graph,initial] = load3D(filename,model,successive,N)
|
|
% load3D: read TORO 3D pose graph
|
|
% cannot read noise model from file yet, uses specified model
|
|
% if [successive] is tru, constructs initial estimate from odometry
|
|
|
|
if nargin<3, successive=false; end
|
|
fid = fopen(filename);
|
|
if fid < 0
|
|
error(['load2D: Cannot open file ' filename]);
|
|
end
|
|
|
|
% scan all lines into a cell array
|
|
columns=textscan(fid,'%s','delimiter','\n');
|
|
fclose(fid);
|
|
lines=columns{1};
|
|
|
|
% loop over lines and add vertices
|
|
graph = pose3SLAMGraph;
|
|
initial = pose3SLAMValues;
|
|
origin=gtsamPose3;
|
|
initial.insertPose(0,origin);
|
|
n=size(lines,1);
|
|
if nargin<4, N=n;end
|
|
|
|
for i=1:n
|
|
line_i=lines{i};
|
|
if strcmp('VERTEX3',line_i(1:7))
|
|
v = textscan(line_i,'%s %d %f %f %f %f %f %f',1);
|
|
i=v{2};
|
|
if (~successive & i<N | successive & i==0)
|
|
t = gtsamPoint3(v{3}, v{4}, v{5});
|
|
R = gtsamRot3_ypr(v{8}, -v{7}, v{6});
|
|
initial.insertPose(i, gtsamPose3(R,t));
|
|
end
|
|
elseif strcmp('EDGE3',line_i(1:5))
|
|
e = textscan(line_i,'%s %d %d %f %f %f %f %f %f',1);
|
|
i1=e{2};
|
|
i2=e{3};
|
|
if i1<N & i2<N
|
|
if ~successive | abs(i2-i1)==1
|
|
t = gtsamPoint3(e{4}, e{5}, e{6});
|
|
R = gtsamRot3_ypr(e{9}, e{8}, e{7});
|
|
dpose = gtsamPose3(R,t);
|
|
graph.addConstraint(i1, i2, dpose, model);
|
|
if successive
|
|
if i2>i1
|
|
initial.insertPose(i2,initial.pose(i1).compose(dpose));
|
|
else
|
|
initial.insertPose(i1,initial.pose(i2).compose(dpose.inverse));
|
|
end
|
|
end
|
|
end
|
|
end
|
|
end
|
|
end
|
|
|