98 lines
3.2 KiB
C++
98 lines
3.2 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 Pose2SLAMwSPCG_advanced.cpp
|
|
* @brief Solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface
|
|
* @author Yong Dian
|
|
* Created October 21, 2010
|
|
*/
|
|
|
|
#include <boost/shared_ptr.hpp>
|
|
|
|
#include <gtsam/slam/pose2SLAM.h>
|
|
#include <gtsam/linear/SubgraphSolver-inl.h>
|
|
#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
using namespace pose2SLAM;
|
|
|
|
typedef boost::shared_ptr<Graph> sharedGraph ;
|
|
typedef boost::shared_ptr<pose2SLAM::Values> sharedValue ;
|
|
//typedef NonlinearOptimizer<Graph, Values, SubgraphPreconditioner, SubgraphSolver<Graph,Values> > SPCGOptimizer;
|
|
|
|
|
|
typedef SubgraphSolver<Graph, GaussianFactorGraph, pose2SLAM::Values> Solver;
|
|
typedef boost::shared_ptr<Solver> sharedSolver ;
|
|
typedef NonlinearOptimizer<Graph, pose2SLAM::Values, GaussianFactorGraph, Solver> SPCGOptimizer;
|
|
|
|
sharedGraph graph;
|
|
sharedValue initial;
|
|
pose2SLAM::Values result;
|
|
|
|
/* ************************************************************************* */
|
|
int main(void) {
|
|
|
|
/* generate synthetic data */
|
|
const SharedNoiseModel sigma(noiseModel::Unit::Create(0.1));
|
|
Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9);
|
|
|
|
graph = boost::make_shared<Graph>() ;
|
|
initial = boost::make_shared<pose2SLAM::Values>() ;
|
|
|
|
// create a 3 by 3 grid
|
|
// x3 x6 x9
|
|
// x2 x5 x8
|
|
// x1 x4 x7
|
|
graph->addConstraint(x1,x2,Pose2(0,2,0),sigma) ;
|
|
graph->addConstraint(x2,x3,Pose2(0,2,0),sigma) ;
|
|
graph->addConstraint(x4,x5,Pose2(0,2,0),sigma) ;
|
|
graph->addConstraint(x5,x6,Pose2(0,2,0),sigma) ;
|
|
graph->addConstraint(x7,x8,Pose2(0,2,0),sigma) ;
|
|
graph->addConstraint(x8,x9,Pose2(0,2,0),sigma) ;
|
|
graph->addConstraint(x1,x4,Pose2(2,0,0),sigma) ;
|
|
graph->addConstraint(x4,x7,Pose2(2,0,0),sigma) ;
|
|
graph->addConstraint(x2,x5,Pose2(2,0,0),sigma) ;
|
|
graph->addConstraint(x5,x8,Pose2(2,0,0),sigma) ;
|
|
graph->addConstraint(x3,x6,Pose2(2,0,0),sigma) ;
|
|
graph->addConstraint(x6,x9,Pose2(2,0,0),sigma) ;
|
|
graph->addPrior(x1, Pose2(0,0,0), sigma) ;
|
|
|
|
initial->insert(x1, Pose2( 0, 0, 0));
|
|
initial->insert(x2, Pose2( 0, 2.1, 0.01));
|
|
initial->insert(x3, Pose2( 0, 3.9,-0.01));
|
|
initial->insert(x4, Pose2(2.1,-0.1, 0));
|
|
initial->insert(x5, Pose2(1.9, 2.1, 0.02));
|
|
initial->insert(x6, Pose2(2.0, 3.9,-0.02));
|
|
initial->insert(x7, Pose2(4.0, 0.1, 0.03 ));
|
|
initial->insert(x8, Pose2(3.9, 2.1, 0.01));
|
|
initial->insert(x9, Pose2(4.1, 3.9,-0.01));
|
|
/* done with generating data */
|
|
|
|
|
|
graph->print("full graph") ;
|
|
initial->print("initial estimate") ;
|
|
|
|
sharedSolver solver(new Solver(*graph, *initial)) ;
|
|
SPCGOptimizer optimizer(graph, initial, solver->ordering(), solver) ;
|
|
|
|
cout << "before optimization, sum of error is " << optimizer.error() << endl;
|
|
SPCGOptimizer optimizer2 = optimizer.levenbergMarquardt();
|
|
cout << "after optimization, sum of error is " << optimizer2.error() << endl;
|
|
|
|
result = *optimizer2.values() ;
|
|
result.print("final result") ;
|
|
|
|
return 0 ;
|
|
}
|
|
|