Pose2SLAMExampleExpressions.cpp
是一个自动求导的例子
一、预定义文件
/**
* @file Pose2SLAMExampleExpressions.cpp
* @brief Expressions version of Pose2SLAMExample.cpp
* @date Oct 2, 2014
* @author Frank Dellaert
*/
// The two new headers that allow using our Automatic Differentiation Expression framework
#include <gtsam/slam/expressions.h>
#include <gtsam/nonlinear/ExpressionFactorGraph.h>
// For an explanation of headers below, please see Pose2SLAMExample.cpp
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
using namespace std;
using namespace gtsam;
二、main function
直接支持自动求导的 factor graph
// 1. Create a factor graph container and add factors to it
ExpressionFactorGraph graph;
位姿表示
// Create Expressions for unknowns
Pose2_ x1(1), x2(2), x3(3), x4(4), x5(5);
里程计噪声模型
// For simplicity, we use the same noise model for odometry and loop closures
auto model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
添加里程计因子
// 2b. Add odometry factors
graph.addExpressionFactor(between(x1, x2), Pose2(2, 0, 0), model);
graph.addExpressionFactor(between(x2, x3), Pose2(2, 0, M_PI_2), model);
graph.addExpressionFactor(between(x3, x4), Pose2(2, 0, M_PI_2), model);
graph.addExpressionFactor(between(x4, x5), Pose2(2, 0, M_PI_2), model);
// 2c. Add the loop closure constraint
graph.addExpressionFactor(between(x5, x2), Pose2(2, 0, M_PI_2), model);
graph.print("\nFactor Graph:\n"); // print
设置初始估计值
// 3. Create the data structure to hold the initialEstimate estimate to the
// solution For illustrative purposes, these have been deliberately set to
// incorrect values
Values initialEstimate;
initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2));
initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2));
initialEstimate.insert(3, Pose2(4.1, 0.1, M_PI_2));
initialEstimate.insert(4, Pose2(4.0, 2.0, M_PI));
initialEstimate.insert(5, Pose2(2.1, 2.1, -M_PI_2));
initialEstimate.print("\nInitial Estimate:\n"); // print
优化并得到边际概率
// 4. Optimize the initial values using a Gauss-Newton nonlinear optimizer
GaussNewtonParams parameters;
parameters.relativeErrorTol = 1e-5;
parameters.maxIterations = 100;
GaussNewtonOptimizer optimizer(graph, initialEstimate, parameters);
Values result = optimizer.optimize();
result.print("Final Result:\n");
// 5. Calculate and print marginal covariances for all variables
cout.precision(3);
Marginals marginals(graph, result);
cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl;
cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl;
cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl;
cout << "x4 covariance:\n" << marginals.marginalCovariance(4) << endl;
cout << "x5 covariance:\n" << marginals.marginalCovariance(5) << endl;
return 0;