72 lines
2.5 KiB
C++
72 lines
2.5 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 Pose2SLAMExample_graphviz.cpp
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* @brief Save factor graph as graphviz dot file
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* @date Sept 6, 2013
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* @author Frank Dellaert
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*/
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/Marginals.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/geometry/Pose2.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 (int argc, char** argv) {
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// 1. Create a factor graph container and add factors to it
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NonlinearFactorGraph graph;
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// 2a. Add a prior on the first pose, setting it to the origin
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noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
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graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
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// For simplicity, we will use the same noise model for odometry and loop closures
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noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
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// 2b. Add odometry factors
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graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2, 0, 0 ), model));
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graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2, 0, M_PI_2), model));
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graph.add(BetweenFactor<Pose2>(3, 4, Pose2(2, 0, M_PI_2), model));
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graph.add(BetweenFactor<Pose2>(4, 5, Pose2(2, 0, M_PI_2), model));
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// 2c. Add the loop closure constraint
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graph.add(BetweenFactor<Pose2>(5, 2, Pose2(2, 0, M_PI_2), model));
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// 3. Create the data structure to hold the initial estimate to the solution
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// For illustrative purposes, these have been deliberately set to incorrect values
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Values initial;
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initial.insert(1, Pose2(0.5, 0.0, 0.2 ));
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initial.insert(2, Pose2(2.3, 0.1, -0.2 ));
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initial.insert(3, Pose2(4.1, 0.1, M_PI_2));
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initial.insert(4, Pose2(4.0, 2.0, M_PI ));
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initial.insert(5, Pose2(2.1, 2.1, -M_PI_2));
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// Single Step Optimization using Levenberg-Marquardt
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Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();
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// save factor graph as graphviz dot file
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// Render to PDF using "fdp Pose2SLAMExample.dot -Tpdf > graph.pdf"
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ofstream os("Pose2SLAMExample.dot");
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graph.saveGraph(os, result);
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// Also print out to console
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graph.saveGraph(cout, result);
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return 0;
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}
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