g2o_incremental.cpp File Reference

#include <iostream>
#include <cassert>
#include <csignal>
#include "g2o/stuff/macros.h"
#include "g2o/stuff/command_args.h"
#include "g2o/stuff/string_tools.h"
#include "g2o/stuff/tictoc.h"
#include "slam_parser/interface/parser_interface.h"
#include "g2o/examples/interactive_slam/g2o_interactive/g2o_slam_interface.h"
#include "graph_optimizer_sparse_incremental.h"

Include dependency graph for g2o_incremental.cpp:

Go to the source code of this file.

Classes
struct	EdgeInformation
	Store the information parsed from a g2o file. More...
struct	IncrementalEdgesCompare
	Sort Edges for inserting them sequentially. More...

Functions
void	sigquit_handler (int sig)
int	main (int argc, char **argv)

Variables
static bool	hasToStop =false

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 80 of file g2o_incremental.cpp.

References g2o::G2oSlamInterface::addEdge(), g2o::G2oSlamInterface::addNode(), EdgeInformation::fromId, hasToStop, EdgeInformation::information, EdgeInformation::measurement, g2o::CommandArgs::param(), g2o::CommandArgs::parseArgs(), SlamParser::ParserInterface::parseCommand(), g2o::readLine(), g2o::OptimizableGraph::save(), g2o::G2oSlamInterface::setBatchSolveEachN(), g2o::SparseOptimizer::setForceStopFlag(), g2o::G2oSlamInterface::setUpdateGraphEachN(), g2o::SparseOptimizer::setVerbose(), g2o::G2oSlamInterface::solve(), g2o::tictoc(), EdgeInformation::toId, g2o::HyperGraph::vertices(), and g2o::SparseOptimizerOnline::vizWithGnuplot.

{
  string inputFilename;
  string outputFilename;
  int updateEachN;
  int batchEachN;
  bool verbose;
  bool vis;
  // command line parsing
  CommandArgs arg;
  arg.param("batch", batchEachN, 100, "solve by a batch Cholesky after inserting N nodes");
  arg.param("update", updateEachN, 10, "update the graph after inserting N nodes");
  arg.param("v", verbose, false, "verbose output of the optimization process");
  arg.param("g", vis, false, "gnuplot visualization");
  arg.param("o", outputFilename, "", "output the final graph");
  arg.param("i", inputFilename, "", "input file (default g2o format), if not given read via stdin");

  arg.parseArgs(argc, argv);

  SparseOptimizerIncremental optimizer;
  optimizer.setVerbose(verbose);
  optimizer.setForceStopFlag(&hasToStop);
  optimizer.vizWithGnuplot = vis;

  G2oSlamInterface slamInterface(&optimizer);
  slamInterface.setUpdateGraphEachN(updateEachN);
  slamInterface.setBatchSolveEachN(batchEachN);

  cerr << "Updating every " << updateEachN << endl;
  cerr << "Batch step every " << batchEachN << endl;

  if (inputFilename.size() > 0) { // operating on a file
    vector<EdgeInformation> edgesFromGraph;

    // HACK force tictoc statistics
#ifdef _MSC_VER
    _putenv_s("G2O_ENABLE_TICTOC", "1");
#else
    setenv("G2O_ENABLE_TICTOC", "1", 1);
#endif

    // parse the edge from the file
    int graphDimension = 0;
    cerr << "Parsing " << inputFilename << " ... ";
    tictoc("parsing");
    ifstream ifs(inputFilename.c_str());
    if (!ifs) {
      cerr << "Failure to open " << inputFilename << endl;
      return 1;
    }
    stringstream currentLine;
    while (readLine(ifs, currentLine)) {
      string token;
      currentLine >> token;
      if (token == "EDGE_SE2") {
        graphDimension = 3;
        edgesFromGraph.push_back(EdgeInformation());
        EdgeInformation& currentEdge = edgesFromGraph.back();
        currentLine >> currentEdge.fromId >> currentEdge.toId;
        currentEdge.measurement.resize(3);
        currentLine >> currentEdge.measurement[0] >> currentEdge.measurement[1] >> currentEdge.measurement[2];
        currentEdge.information.resize(6);
        for (int i = 0; i < 6; ++i)
          currentLine >> currentEdge.information[i];
      } else if (token == "EDGE_SE3:QUAT") {
        graphDimension = 6;
        edgesFromGraph.push_back(EdgeInformation());
        EdgeInformation& currentEdge = edgesFromGraph.back();
        currentLine >> currentEdge.fromId >> currentEdge.toId;
        currentEdge.measurement.resize(7);
        for (size_t i = 0; i < currentEdge.measurement.size(); ++i)
          currentLine >> currentEdge.measurement[i];
        currentEdge.information.resize(21);
        for (size_t i = 0; i < currentEdge.information.size(); ++i)
          currentLine >> currentEdge.information[i];
      }
    }
    assert(graphDimension > 0);
    sort(edgesFromGraph.begin(), edgesFromGraph.end(), IncrementalEdgesCompare());
    tictoc("parsing");
    cerr << "done." << endl;

    // adding edges to the graph. Add all edges connecting a node and then call optimize
    tictoc("inc_optimize");
    bool freshlySolved = false;
    int lastNode = 2;
    slamInterface.addNode("", 0, graphDimension, vector<double>());
    for (vector<EdgeInformation>::const_iterator it = edgesFromGraph.begin(); it != edgesFromGraph.end(); ++it) {
      const EdgeInformation& e = *it;
      int minNodeId = max(e.fromId, e.toId);
      if (minNodeId > lastNode) {
        //cerr << "try to solve" << endl;
        lastNode = minNodeId;
        freshlySolved = true;
        G2oSlamInterface::SolveResult solverState = slamInterface.solve();
        if (!verbose) {
          switch (solverState) {
            case G2oSlamInterface::SOLVED:
              cout << "."; //<< flush;
              break;
            case G2oSlamInterface::SOLVED_BATCH:
              cout << "b " << optimizer.vertices().size() << endl;
              break;
            default:
              break;
          }
        }
      }
      //cerr << "adding " << e.fromId << " " << e.toId << endl;
      slamInterface.addEdge("", 0, graphDimension, e.fromId, e.toId, e.measurement, e.information);
      freshlySolved = false;
    }
    if (! freshlySolved) {
      G2oSlamInterface::SolveResult solverState = slamInterface.solve();
      if (!verbose) {
        switch (solverState) {
          case G2oSlamInterface::SOLVED:
            cout << "." << endl;
            break;
          case G2oSlamInterface::SOLVED_BATCH:
            cout << "b " << optimizer.vertices().size() << endl;
            break;
          default:
            break;
        }
      }
    }
    tictoc("inc_optimize");
  } else {
    // Reading the protocol via stdin
    SlamParser::ParserInterface parserInterface(&slamInterface);
    while (parserInterface.parseCommand(cin)) {}
  }

  if (outputFilename.size() > 0) {
    cerr << "Saving " << outputFilename << endl;
    optimizer.save(outputFilename.c_str());
  }

  return 0;
}

void sigquit_handler

(

int

sig

)

Definition at line 68 of file g2o_incremental.cpp.

References __PRETTY_FUNCTION__, and hasToStop.

{
  if (sig == SIGINT) {
    hasToStop = 1;
    static int cnt = 0;
    if (cnt++ == 2) {
      cerr << __PRETTY_FUNCTION__ << " forcing exit" << endl;
      exit(1);
    }
  }
}

Variable Documentation

bool hasToStop =false

static

Definition at line 31 of file g2o_incremental.cpp.

Referenced by main(), and sigquit_handler().