g2o_anonymize_observations.cpp File Reference

#include <cstdlib>
#include "g2o/core/optimizable_graph.h"
#include "g2o/stuff/command_args.h"
#include "g2o/types/slam2d/types_slam2d.h"
#include "g2o/types/slam3d/types_slam3d.h"
#include <iostream>
#include <fstream>
#include <sstream>

Include dependency graph for g2o_anonymize_observations.cpp:

Go to the source code of this file.

Functions
template<typename T >
bool	anonymizeLandmarkEdge (HyperGraph::Edge *e_, OptimizableGraph &g)
template<typename T >
bool	anonymizePoseEdge (HyperGraph::Edge *e_, OptimizableGraph &g)
int	main (int argc, char **argv)

Function Documentation

template<typename T >

bool anonymizeLandmarkEdge	(	HyperGraph::Edge *	e_,
		OptimizableGraph &	g
	)

Definition at line 40 of file g2o_anonymize_observations.cpp.

References g2o::OptimizableGraph::setEdgeVertex().

                                                                   {
  T* e= dynamic_cast<T*> (e_);
  if (!e)
    return false;
  g.setEdgeVertex(e,1,0);
  return true;
}

template<typename T >

bool anonymizePoseEdge	(	HyperGraph::Edge *	e_,
		OptimizableGraph &	g
	)

Definition at line 49 of file g2o_anonymize_observations.cpp.

References g2o::HyperGraph::Vertex::id(), and g2o::OptimizableGraph::setEdgeVertex().

                                                               {
  T* e= dynamic_cast<T*> (e_);
  if (!e)
    return false;
  HyperGraph::Vertex* from = e->vertex(0);
  HyperGraph::Vertex* to   = e->vertex(1);
  if (from && to && from!=to){
    int deltaId = abs(from->id() - to->id());
    if (deltaId>1) {
      if (from->id()>to->id()){
        g.setEdgeVertex(e,0,0);
      } else {
        g.setEdgeVertex(e,1,0);
      }
      return true;
    }
  }
  return false;
}

int main	(	int	argc,
		char **	argv
	)

Definition at line 70 of file g2o_anonymize_observations.cpp.

References g2o::HyperGraph::edges(), graph, g2o::OptimizableGraph::load(), g2o::CommandArgs::param(), g2o::CommandArgs::paramLeftOver(), g2o::CommandArgs::parseArgs(), and g2o::OptimizableGraph::save().

                                {
  CommandArgs arg;
  std::string outputFilename;
  std::string inputFilename;
  arg.param("o", outputFilename, "anon.g2o", "output file" );
  arg.paramLeftOver("graph-output", inputFilename, "", "graph file which will be read", true);
  arg.parseArgs(argc, argv);
  OptimizableGraph graph;

  if (inputFilename.size() == 0) {
    cerr << "No input data specified" << endl;
    return 0;
  } else if (inputFilename == "-") {
    cerr << "Read input from stdin" << endl;
    if (!graph.load(cin)) {
      cerr << "Error loading graph" << endl;
      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 (!graph.load(ifs)) {
      cerr << "Error loading graph" << endl;
      return 2;
    }
  }

  for (HyperGraph::EdgeSet::iterator it = graph.edges().begin(); it!=graph.edges().end(); it++){
    HyperGraph::Edge* e = *it;
    if (anonymizeLandmarkEdge<EdgeSE2PointXY>(e, graph)) continue;
    if (anonymizeLandmarkEdge<EdgeSE2PointXYOffset>(e, graph)) continue;
    if (anonymizeLandmarkEdge<EdgeSE2PointXYBearing>(e, graph)) continue;
    if (anonymizePoseEdge<EdgeSE2>(e, graph)) continue;
    if (anonymizePoseEdge<EdgeSE2Offset>(e, graph)) continue;
  }

  ofstream os (outputFilename.c_str());
  graph.save(os);
}