C++ SparseOptimizer::gaugeFreedom方法代码示例

//.........这里部分代码省略.........
      return 2;
    }
  } else {
    cerr << "Read input from " << inputFilename << endl;
    ifstream ifs(inputFilename.c_str());
    if (!ifs) {
      cerr << "Failed to open file" << endl;
      return 1;
    }
    if (!optimizer.load(ifs)) {
      cerr << "Error loading graph" << endl;
      return 2;
    }
  }
  cerr << "Loaded " << optimizer.vertices().size() << " vertices" << endl;
  cerr << "Loaded " << optimizer.edges().size() << " edges" << endl;

  if (optimizer.vertices().size() == 0) {
    cerr << "Graph contains no vertices" << endl;
    return 1;
  }

  set<int> vertexDimensions = optimizer.dimensions();
  if (! optimizer.isSolverSuitable(solverProperty, vertexDimensions)) {
    cerr << "The selected solver is not suitable for optimizing the given graph" << endl;
    return 3;
  }
  assert (optimizer.solver());
  //optimizer.setMethod(str2method(strMethod));
  //optimizer.setUserLambdaInit(lambdaInit);

 
  // check for vertices to fix to remove DoF
  bool gaugeFreedom = optimizer.gaugeFreedom();
  OptimizableGraph::Vertex* gauge=0;
  if (gaugeList.size()){
    cerr << "Fixing gauges: ";
    for (size_t i=0; i<gaugeList.size(); i++){
      int id=gaugeList[i];
      OptimizableGraph::Vertex* v=optimizer.vertex(id);
      if (!v){
        cerr << "fatal, not found the vertex of id " << id << " in the gaugeList. Aborting";
        return -1;
      } else {
        if (i==0)
          gauge = v;
        cerr << v->id() << " ";
        v->setFixed(1);
      }
    }
    cerr << endl;
    gaugeFreedom = false;
  } else {
      gauge=optimizer.findGauge();
  }
  if (gaugeFreedom) {
    if (! gauge) {
      cerr <<  "# cannot find a vertex to fix in this thing" << endl;
      return 2;
    } else {
      cerr << "# graph is fixed by node " << gauge->id() << endl;
      gauge->setFixed(true);
    }
  } else {
    cerr << "# graph is fixed by priors or already fixed vertex" << endl;
  }

int main(int argc, char** argv)
{
  bool fixLaser;
  int maxIterations;
  bool verbose;
  string inputFilename;
  string outputfilename;
  string rawFilename;
  string odomTestFilename;
  string dumpGraphFilename;
  // command line parsing
  CommandArgs commandLineArguments;
  commandLineArguments.param("i", maxIterations, 10, "perform n iterations");
  commandLineArguments.param("v", verbose, false, "verbose output of the optimization process");
  commandLineArguments.param("o", outputfilename, "", "output final version of the graph");
  commandLineArguments.param("test", odomTestFilename, "", "apply odometry calibration to some test data");
  commandLineArguments.param("dump", dumpGraphFilename, "", "write the graph to the disk");
  commandLineArguments.param("fixLaser", fixLaser, false, "keep the laser offset fixed during optimization");
  commandLineArguments.paramLeftOver("gm2dl-input", inputFilename, "", "gm2dl file which will be processed");
  commandLineArguments.paramLeftOver("raw-log", rawFilename, "", "raw log file containing the odometry");

  commandLineArguments.parseArgs(argc, argv);

  SparseOptimizer optimizer;
  optimizer.setVerbose(verbose);
  optimizer.setForceStopFlag(&hasToStop);

  allocateSolverForSclam(optimizer);

  // loading
  if (! Gm2dlIO::readGm2dl(inputFilename, optimizer, false)) {
    cerr << "Error while loading gm2dl file" << endl;
  }
  DataQueue robotLaserQueue;
  int numLaserOdom = Gm2dlIO::readRobotLaser(rawFilename, robotLaserQueue);
  if (numLaserOdom == 0) {
    cerr << "No raw information read" << endl;
    return 0;
  }
  cerr << "Read " << numLaserOdom << " laser readings from file" << endl;

  bool gaugeFreedom = optimizer.gaugeFreedom();

  OptimizableGraph::Vertex* gauge = optimizer.findGauge();
  if (gaugeFreedom) {
    if (! gauge) {
      cerr <<  "# cannot find a vertex to fix in this thing" << endl;
      return 2;
    } else {
      cerr << "# graph is fixed by node " << gauge->id() << endl;
      gauge->setFixed(true);
    }
  } else {
    cerr << "# graph is fixed by priors" << endl;
  }

  addOdometryCalibLinksDifferential(optimizer, robotLaserQueue);

  // sanity check
  HyperDijkstra d(&optimizer);
  UniformCostFunction f;
  d.shortestPaths(gauge, &f);
  //cerr << PVAR(d.visited().size()) << endl;

  if (d.visited().size()!=optimizer.vertices().size()) {
    cerr << CL_RED("Warning: d.visited().size() != optimizer.vertices().size()") << endl;
    cerr << "visited: " << d.visited().size() << endl;
    cerr << "vertices: " << optimizer.vertices().size() << endl;
    if (1)
      for (SparseOptimizer::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) {
        OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(it->second);
        if (d.visited().count(v) == 0) {
          cerr << "\t unvisited vertex " << it->first << " " << (void*)v << endl;
          v->setFixed(true);
        }
      }
  }

  for (SparseOptimizer::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) {
    OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(it->second);
    if (v->fixed()) {
      cerr << "\t fixed vertex " << it->first << endl;
    }
  }

  VertexSE2* laserOffset = dynamic_cast<VertexSE2*>(optimizer.vertex(Gm2dlIO::ID_LASERPOSE));
  VertexOdomDifferentialParams* odomParamsVertex = dynamic_cast<VertexOdomDifferentialParams*>(optimizer.vertex(Gm2dlIO::ID_ODOMCALIB));

  if (fixLaser) {
    cerr << "Fix position of the laser offset" << endl;
    laserOffset->setFixed(true);
  }

  signal(SIGINT, sigquit_handler);
  cerr << "Doing full estimation" << endl;
  optimizer.initializeOptimization();
  optimizer.computeActiveErrors();
  cerr << "Initial chi2 = " << FIXED(optimizer.chi2()) << endl;

  int i=optimizer.optimize(maxIterations);
//.........这里部分代码省略.........