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/* ----------------------------------------------------------------------------
* 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 Pose3Localization.cpp
* @brief A 3D Pose SLAM example that reads input from g2o, and initializes the Pose3 using InitializePose3
* Syntax for the script is ./Pose3Localization input.g2o output.g2o
* @date Aug 25, 2014
* @author Luca Carlone
*/
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <fstream>
using namespace std;
using namespace gtsam;
int main(const int argc, const char* argv[]) {
// Read graph from file
string g2oFile;
if (argc < 2)
g2oFile = findExampleDataFile("pose3Localizationexample.txt");
else
g2oFile = argv[1];
NonlinearFactorGraph::shared_ptr graph;
Values::shared_ptr initial;
bool is3D = true;
boost::tie(graph, initial) = readG2o(g2oFile, is3D);
// Add prior on the first key
auto priorModel = noiseModel::Diagonal::Variances(
(Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
Key firstKey = 0;
for (const auto key : initial->keys()) {
std::cout << "Adding prior to g2o file " << std::endl;
firstKey = key;
graph->addPrior(firstKey, Pose3(), priorModel);
break;
}
std::cout << "Optimizing the factor graph" << std::endl;
GaussNewtonParams params;
params.setVerbosity("TERMINATION"); // show info about stopping conditions
GaussNewtonOptimizer optimizer(*graph, *initial, params);
Values result = optimizer.optimize();
std::cout << "Optimization complete" << std::endl;
std::cout << "initial error=" << graph->error(*initial) << std::endl;
std::cout << "final error=" << graph->error(result) << std::endl;
if (argc < 3) {
result.print("result");
} else {
const string outputFile = argv[2];
std::cout << "Writing results to file: " << outputFile << std::endl;
NonlinearFactorGraph::shared_ptr graphNoKernel;
Values::shared_ptr initial2;
boost::tie(graphNoKernel, initial2) = readG2o(g2oFile);
writeG2o(*graphNoKernel, result, outputFile);
std::cout << "done! " << std::endl;
}
// Calculate and print marginal covariances for all variables
Marginals marginals(*graph, result);
for (const auto& key_pose : result.extract<Pose3>()) {
std::cout << marginals.marginalCovariance(key_pose.first) << endl;
}
return 0;
}
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