simple_optimize.cpp File Reference

#include <iostream>
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "g2o/solvers/csparse/linear_solver_csparse.h"
#include "g2o/core/factory.h"
#include "g2o/stuff/command_args.h"

Include dependency graph for simple_optimize.cpp:

Go to the source code of this file.

Functions
	G2O_USE_TYPE_GROUP (slam2d)
	G2O_USE_TYPE_GROUP (slam3d)
int	main (int argc, char **argv)

Function Documentation

G2O_USE_TYPE_GROUP

(

slam2d

)

G2O_USE_TYPE_GROUP

(

slam3d

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 48 of file simple_optimize.cpp.

References g2o::SparseOptimizer::initializeOptimization(), g2o::OptimizableGraph::load(), g2o::SparseOptimizer::optimize(), g2o::CommandArgs::param(), g2o::CommandArgs::paramLeftOver(), g2o::CommandArgs::parseArgs(), g2o::OptimizableGraph::save(), g2o::SparseOptimizer::setAlgorithm(), and g2o::SparseOptimizer::setVerbose().

{
  // Command line parsing
  int maxIterations;
  string outputFilename;
  string inputFilename;
  CommandArgs arg;
  arg.param("i", maxIterations, 10, "perform n iterations, if negative consider the gain");
  arg.param("o", outputFilename, "", "output final version of the graph");
  arg.paramLeftOver("graph-input", inputFilename, "", "graph file which will be processed");
  arg.parseArgs(argc, argv);

  // create the linear solver
  BlockSolverX::LinearSolverType * linearSolver = new LinearSolverCSparse<BlockSolverX::PoseMatrixType>();

  // create the block solver on top of the linear solver
  BlockSolverX* blockSolver = new BlockSolverX(linearSolver);

  // create the algorithm to carry out the optimization
  //OptimizationAlgorithmGaussNewton* optimizationAlgorithm = new OptimizationAlgorithmGaussNewton(blockSolver);
  OptimizationAlgorithmLevenberg* optimizationAlgorithm = new OptimizationAlgorithmLevenberg(blockSolver);

  // NOTE: We skip to fix a variable here, either this is stored in the file
  // itself or Levenberg will handle it.

  // create the optimizer to load the data and carry out the optimization
  SparseOptimizer optimizer;
  optimizer.setVerbose(true);
  optimizer.setAlgorithm(optimizationAlgorithm);

  ifstream ifs(inputFilename.c_str());
  if (! ifs) {
    cerr << "unable to open " << inputFilename << endl;
    return 1;
  }
  optimizer.load(ifs);
  optimizer.initializeOptimization();
  optimizer.optimize(maxIterations);

  if (outputFilename.size() > 0) {
    if (outputFilename == "-") {
      cerr << "saving to stdout";
      optimizer.save(cout);
    } else {
      cerr << "saving " << outputFilename << " ... ";
      optimizer.save(outputFilename.c_str());
    }
    cerr << "done." << endl;
  }
  return 0;
}