54 lines
1.8 KiB
Matlab
54 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 = circlePose2(6,1.0);
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p0 = hexagon.atPose2(0);
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p1 = hexagon.atPose2(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(NonlinearEqualityPose2(0, p0));
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delta = p0.between(p1);
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covariance = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]);
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fg.add(BetweenFactorPose2(0,1, delta, covariance));
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fg.add(BetweenFactorPose2(1,2, delta, covariance));
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fg.add(BetweenFactorPose2(2,3, delta, covariance));
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fg.add(BetweenFactorPose2(3,4, delta, covariance));
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fg.add(BetweenFactorPose2(4,5, delta, covariance));
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fg.add(BetweenFactorPose2(5,0, delta, covariance));
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%% Create initial config
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initial = Values;
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initial.insert(0, p0);
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initial.insert(1, hexagon.atPose2(1).retract([-0.1, 0.1,-0.1]'));
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initial.insert(2, hexagon.atPose2(2).retract([ 0.1,-0.1, 0.1]'));
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initial.insert(3, hexagon.atPose2(3).retract([-0.1, 0.1,-0.1]'));
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initial.insert(4, hexagon.atPose2(4).retract([ 0.1,-0.1, 0.1]'));
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initial.insert(5, hexagon.atPose2(5).retract([-0.1, 0.1,-0.1]'));
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%% Plot Initial Estimate
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cla
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plot2DTrajectory(initial, 'g*-'); axis equal
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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; plot2DTrajectory(result, 'b*-');
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view(2);
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axis([-1.5 1.5 -1.5 1.5]);
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result.print(sprintf('\nFinal result:\n'));
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