75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
/* ----------------------------------------------------------------------------
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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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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Pose3SLAMExample_g2o.cpp
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* @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3
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* Syntax for the script is ./Pose3SLAMExample_g2o input.g2o output.g2o
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* @date Aug 25, 2014
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* @author Luca Carlone
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*/
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#include <gtsam/slam/dataset.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
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#include <fstream>
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using namespace std;
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using namespace gtsam;
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int main(const int argc, const char* argv[]) {
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// Read graph from file
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string g2oFile;
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if (argc < 2)
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g2oFile = findExampleDataFile("pose3example.txt");
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else
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g2oFile = argv[1];
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NonlinearFactorGraph::shared_ptr graph;
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Values::shared_ptr initial;
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bool is3D = true;
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std::tie(graph, initial) = readG2o(g2oFile, is3D);
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// Add prior on the first key
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auto priorModel = noiseModel::Diagonal::Variances(
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(Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
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Key firstKey = 0;
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for (const auto key : initial->keys()) {
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std::cout << "Adding prior to g2o file " << std::endl;
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firstKey = key;
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graph->addPrior(firstKey, Pose3(), priorModel);
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break;
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}
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std::cout << "Optimizing the factor graph" << std::endl;
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GaussNewtonParams params;
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params.setVerbosity("TERMINATION"); // show info about stopping conditions
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GaussNewtonOptimizer optimizer(*graph, *initial, params);
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Values result = optimizer.optimize();
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std::cout << "Optimization complete" << std::endl;
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std::cout << "initial error=" << graph->error(*initial) << std::endl;
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std::cout << "final error=" << graph->error(result) << std::endl;
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if (argc < 3) {
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result.print("result");
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} else {
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const string outputFile = argv[2];
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std::cout << "Writing results to file: " << outputFile << std::endl;
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NonlinearFactorGraph::shared_ptr graphNoKernel;
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Values::shared_ptr initial2;
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std::tie(graphNoKernel, initial2) = readG2o(g2oFile);
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writeG2o(*graphNoKernel, result, outputFile);
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std::cout << "done! " << std::endl;
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}
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return 0;
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}
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