g2o::EdgeSE3* addTransformationEdge(g2o::VertexSE3 *from, g2o::VertexSE3 *to, const dvo::core::AffineTransformd& transform, const dvo::core::Matrix6d& information)
{
assert(from != 0 && to != 0);
g2o::EdgeSE3* edge = new g2o::EdgeSE3();
edge->setId(max_edge_id_++);
edge->resize(2);
edge->setVertex(0, from);
edge->setVertex(1, to);
edge->setMeasurement(toIsometry(transform));
edge->setInformation(information);
graph_.addEdge(edge);
return edge;
}
void test()
{
Isometry3d T = Eigen::Isometry3d::Identity();
T(0,0)=1;
T(0,1)=0;
T(0,2)=0;
T(1,0)=0;
T(1,1)=0.707;
T(1,2)=-0.707;
T(2,0)=0;
T(2,1)=0.707;
T(2,2)=0.707;
T(0,3)=0;
T(1,3)=0;
T(2,3)=0.5;
cout<<T.matrix()<<endl;
for (int i = 2; i <=8; i++)
{
g2o::EdgeSE3* edge = new g2o::EdgeSE3();
g2o::VertexSE3 *v = new g2o::VertexSE3();
v->setId(i);
v->setEstimate( Eigen::Isometry3d::Identity() );
m_globalOptimizer.addVertex(v);
edge->vertices() [0] = m_globalOptimizer.vertex( i-1 );
edge->vertices() [1] = m_globalOptimizer.vertex( i );
Eigen::Matrix<double, 6, 6> information = Eigen::Matrix< double, 6,6 >::Identity();
information(0,0) = information(1,1) = information(2,2) = 100;
information(3,3) = information(4,4) = information(5,5) = 100;
edge->setInformation( information );
edge->setMeasurement( T );
m_globalOptimizer.addEdge(edge);
}
#if 0
T = Eigen::Isometry3d::Identity();
//T(2,3)=1;
//cout<<T.matrix()<<endl;
g2o::EdgeSE3* edge = new g2o::EdgeSE3();
g2o::VertexSE3 *v = new g2o::VertexSE3();
v->setId(8);
v->setEstimate( Eigen::Isometry3d::Identity() );
m_globalOptimizer.addVertex(v);
edge->vertices() [0] = m_globalOptimizer.vertex( 1 );
edge->vertices() [1] = m_globalOptimizer.vertex( 8 );
Eigen::Matrix<double, 6, 6> information = Eigen::Matrix< double, 6,6 >::Identity();
information(0,0) = information(1,1) = information(2,2) = 100;
information(3,3) = information(4,4) = information(5,5) = 100;
edge->setInformation( information );
edge->setMeasurement( T );
m_globalOptimizer.addEdge(edge);
#endif
m_globalOptimizer.save("pa.g2o");
m_globalOptimizer.initializeOptimization();
//m_globalOptimizer.optimize(50);
m_globalOptimizer.save("pa2.g2o");
cout<<"f**k"<<endl;
VertexSE3* vertex = dynamic_cast<VertexSE3*>(m_globalOptimizer.vertex(2));
Isometry3d pose = vertex -> estimate();
//cout << "matrix:" << endl;
cout << pose.matrix() << endl;
}
