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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/pipelines/registration/PoseGraph.h"
#include <cstdio>
#include "open3d/Open3D.h"
#include "open3d/pipelines/registration/GlobalOptimization.h"
using namespace open3d;
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > PoseGraph [posegraph_for_optimization].json");
utility::LogInfo(" The program will :");
utility::LogInfo(" 1) Generate random PoseGraph");
utility::LogInfo(" 2) Save random PoseGraph as test_pose_graph.json");
utility::LogInfo(" 3) Reads PoseGraph from test_pose_graph.json");
utility::LogInfo(" 4) Save loaded PoseGraph as test_pose_graph_copy.json");
utility::LogInfo(" 5) Load PoseGraph from [posegraph_for_optimization].json");
utility::LogInfo(" 6) Optimize PoseGraph");
utility::LogInfo(" 7) Save PoseGraph to pose_graph_optimized.json");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc != 2 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
// test posegraph read and write
pipelines::registration::PoseGraph pose_graph_test;
pose_graph_test.nodes_.push_back(
pipelines::registration::PoseGraphNode(Eigen::Matrix4d::Random()));
pose_graph_test.nodes_.push_back(
pipelines::registration::PoseGraphNode(Eigen::Matrix4d::Random()));
pose_graph_test.edges_.push_back(pipelines::registration::PoseGraphEdge(
0, 1, Eigen::Matrix4d::Random(), Eigen::Matrix6d::Random(), false,
1.0));
pose_graph_test.edges_.push_back(pipelines::registration::PoseGraphEdge(
0, 2, Eigen::Matrix4d::Random(), Eigen::Matrix6d::Random(), true,
0.2));
io::WritePoseGraph("test_pose_graph.json", pose_graph_test);
pipelines::registration::PoseGraph pose_graph;
io::ReadPoseGraph("test_pose_graph.json", pose_graph);
io::WritePoseGraph("test_pose_graph_copy.json", pose_graph);
// testing posegraph optimization
auto pose_graph_input = io::CreatePoseGraphFromFile(argv[1]);
pipelines::registration::GlobalOptimizationConvergenceCriteria criteria;
pipelines::registration::GlobalOptimizationOption option;
pipelines::registration::GlobalOptimizationLevenbergMarquardt
optimization_method;
pipelines::registration::GlobalOptimization(
*pose_graph_input, optimization_method, criteria, option);
auto pose_graph_input_prunned =
pipelines::registration::CreatePoseGraphWithoutInvalidEdges(
*pose_graph_input, option);
io::WritePoseGraph("pose_graph_optimized.json", *pose_graph_input_prunned);
return 0;
}
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