diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 44cc3efd73c3a76a0d140ba460e8fdfe62dac354..6620c03069e499044c4ef9c14c6b6f8f8153bc9f 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -6,4 +6,10 @@ TARGET_LINK_LIBRARIES(demo_toy_pbe
${PLUGIN_NAME}
)
+ADD_EXECUTABLE(cosyslam cosyslam.cpp)
+TARGET_LINK_LIBRARIES(cosyslam
+ ${wolfcore_LIBRARIES}
+ ${PLUGIN_NAME}
+)
+
diff --git a/demos/cosyslam.cpp b/demos/cosyslam.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..275bf6561a88265b51ea547abc1b231de770ec0f
--- /dev/null
+++ b/demos/cosyslam.cpp
@@ -0,0 +1,246 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+#include <string>
+#include <Eigen/Dense>
+
+#include "core/problem/problem.h"
+#include <core/ceres_wrapper/solver_ceres.h>
+#include "core/sensor/sensor_pose.h" // not necessary
+#include "core/frame/frame_base.h"
+
+#include "objectslam/processor/processor_tracker_landmark_object.h"
+#include "objectslam/capture/capture_object.h"
+#include "objectslam/internal/config.h"
+
+using namespace wolf;
+using namespace Eigen;
+
+Isometry3d posevec_to_isometry(Vector7d pose)
+{
+ return Translation<double, 3>(pose.head<3>()) * Quaterniond(pose.tail<4>());
+}
+
+Vector7d isometry_to_posevec(Isometry3d M)
+{
+ Vector7d pose_vec;
+ pose_vec << M.translation(), Quaterniond(M.rotation()).coeffs();
+ return pose_vec;
+}
+
+std::vector<std::pair<std::string, std::vector<std::string>>> read_csv(std::string filename)
+{
+ // create an input filestream
+ std::ifstream myFile(filename);
+
+ // Create a vector of <string, int vector> pairs to store the result
+ std::vector<std::pair<std::string, std::vector<std::string>>> result;
+
+ // Make sure the file is open
+ if (!myFile.is_open())
+ throw std::runtime_error("Could not open file");
+
+ // Variables
+ std::string line, colname, val;
+
+ // read the columns name
+ if (myFile.good())
+ {
+
+ // extract the first line in the file
+ std::getline(myFile, line);
+
+ // Create a stringstream from line
+ std::stringstream ss(line);
+
+ // Extract each column name
+ while (std::getline(ss, colname, ','))
+ {
+
+ // Initialize and add <colname, string vector> pairs to result
+ result.push_back({colname, std::vector<std::string>{}});
+ }
+ }
+
+ // Read data, line by line
+ while (std::getline(myFile, line))
+ {
+ // Create a stringstream of the current line
+ std::stringstream ss(line);
+
+ // Keep track of the current column index
+ int colIdx = 0;
+
+ // Extract each string and store it in result
+ while (std::getline(ss, val, ','))
+ {
+ result.at(colIdx).second.push_back(val);
+ colIdx++;
+ }
+ }
+
+ // Close file
+ myFile.close();
+
+ return result;
+}
+
+Isometry3d str_to_isometry(std::string pose)
+{
+ // Let's initialize the eigen objects
+ Matrix4d pose_matrix;
+
+ // Parse the string
+ std::string::size_type sz;
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 4; j++)
+ {
+ pose_matrix(i, j) = std::stod(pose, &sz);
+ pose = pose.substr(sz);
+ }
+ }
+
+ // Create the transformation
+ Isometry3d trans;
+ trans.linear() = pose_matrix.topLeftCorner(3, 3);
+ trans.translation() = pose_matrix.topRightCorner(3, 1);
+
+ return trans;
+}
+
+Matrix6d str_to_cov(std::string cov)
+{
+ // Initialize the covariance matrix
+ Matrix6d cov_matrix = Matrix6d::Identity();
+
+ // Parse the string
+ std::string::size_type sz;
+ for (int i = 0; i < 6; i++)
+ {
+ for (int j = 0; j < 6; j++)
+ {
+ cov_matrix(i, j) = std::stod(cov, &sz);
+ cov = cov.substr(sz);
+ }
+ }
+
+ return cov_matrix;
+}
+
+int main()
+{
+
+ std::string wolf_root = _WOLF_OBJECTSLAM_ROOT_DIR;
+ std::string filename = wolf_root + "/demos/test.csv";
+ std::vector<std::pair<std::string, std::vector<std::string>>> csv_values;
+ csv_values = read_csv(filename);
+
+ /////////////////////////////
+ // setup the wolf problem
+ /////////////////////////////
+
+ ProblemPtr problem = Problem::create("PO", 3);
+ SolverCeresPtr solver = std::make_shared<SolverCeres>(problem);
+ solver->getSolverOptions().max_num_iterations = 200;
+
+ ParamsSensorPosePtr params_sp = std::make_shared<ParamsSensorPose>();
+ auto sen = problem->installSensor("SensorPose", "sensor_pose", (Vector7d() << 0, 0, 0, 0, 0, 0, 1).finished(), params_sp);
+ auto prc = problem->installProcessor("ProcessorTrackerLandmarkObject", "objects_wrapper", "sensor_pose", wolf_root + "/demos/processor_tracker_landmark_object.yaml");
+ auto prc_obj = std::static_pointer_cast<ProcessorTrackerLandmarkObject>(prc);
+
+ VectorComposite x0("PO", {Vector3d(0, 0, 0), Quaterniond::Identity().coeffs()});
+ VectorComposite sig0("PO", {Vector3d(1, 1, 1), Vector3d(1, 1, 1)});
+ FrameBasePtr F1 = problem->setPriorFactor(x0, sig0, 0.0, 0.1);
+
+ ObjectDetections dets;
+
+ // Parsing variables
+ int len = csv_values.at(0).second.size();
+ int idx_cov = 9;
+ int idx_pose = 4;
+ int idx_obj = 3;
+ int idx_t = 8;
+
+ for (int i = 0; i < len; i++)
+ {
+ std::cout << i << std::endl;
+
+ // Measurement data
+ Isometry3d c_M_o;
+ c_M_o = str_to_isometry(csv_values.at(idx_pose).second.at(i));
+ Matrix6d cov;
+ cov = str_to_cov(csv_values.at(idx_cov).second.at(i));
+ std::string object_name;
+ object_name = csv_values.at(idx_obj).second.at(i);
+ double t;
+ t = std::stod(csv_values.at(idx_t).second.at(i));
+
+ // Capture processing
+ dets.clear();
+ ObjectDetection det = {.measurement = isometry_to_posevec(c_M_o), .meas_cov = cov, .object_type = object_name};
+ dets.push_back(det);
+ CaptureObjectPtr cap = std::make_shared<CaptureObject>(t, sen, dets);
+ cap->process();
+ }
+
+ std::string report = solver->solve(SolverCeres::ReportVerbosity::FULL);
+ std::cout << report << std::endl;
+
+ problem->print(4,true,true,true);
+
+ // Save the results
+ std::fstream file_res;
+ std::fstream file_map;
+ std::string res_filename = wolf_root + "/demos/result.csv";
+ std::string map_filename = wolf_root + "/demos/map.csv";
+ file_res.open(res_filename, std::fstream::out);
+ file_map.open(map_filename, std::fstream::out);
+
+ // Write headers for csv files
+ std::string header_res = "id,t,px,py,pz,qx,qy,qz,qw\n";
+ file_res << header_res;
+ std::string header_map = "id,px,py,pz,qx,qy,qz,qw\n";
+ file_map << header_map;
+
+ VectorComposite state_est;
+ CaptureBasePtr cap_cosy;
+ int counter = 0;
+ for (auto& elt: problem->getTrajectory()->getFrameMap()){
+ TimeStamp t = elt.first;
+ FrameBasePtr kf = elt.second;
+ state_est = kf->getState();
+ file_res << counter << ","
+ << t << ","
+ << state_est['P'](0) << ","
+ << state_est['P'](1) << ","
+ << state_est['P'](2) << ","
+ << state_est['O'](0) << ","
+ << state_est['O'](1) << ","
+ << state_est['O'](2) << ","
+ << state_est['O'](3) << ","
+ << "\n";
+ counter++;
+ }
+
+ counter = 0;
+ for (auto& elt: problem->getMap()->getLandmarkList()){
+ state_est = elt->getState();
+ file_map << counter << ","
+ << state_est['P'](0) << ","
+ << state_est['P'](1) << ","
+ << state_est['P'](2) << ","
+ << state_est['O'](0) << ","
+ << state_est['O'](1) << ","
+ << state_est['O'](2) << ","
+ << state_est['O'](3) << ","
+ << "\n";
+ counter++;
+ }
+ file_res.close();
+ file_map.close();
+
+ return 0;
+}
\ No newline at end of file
diff --git a/demos/map.csv b/demos/map.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d3e694e3fe61c15222404642ae77f81c9569379
--- /dev/null
+++ b/demos/map.csv
@@ -0,0 +1,2 @@
+id,px,py,pz,qx,qy,qz,qw
+0,0.0118101,-0.0103998,0.42091,-0.00461907,0.771858,-0.628642,0.0949934,
diff --git a/demos/processor_tracker_landmark_object.yaml b/demos/processor_tracker_landmark_object.yaml
index 3c36a9ed3ddf1845745963da3dcd472cb8af145d..f95f2422744379c4e658feb8d41e734a99da12a4 100644
--- a/demos/processor_tracker_landmark_object.yaml
+++ b/demos/processor_tracker_landmark_object.yaml
@@ -5,7 +5,7 @@ time_tolerance: 0.1222
vote:
voting_active: true
min_time_vote: 0 # s
- max_time_vote: 1.001 # s
+ max_time_vote: 0.1 # s
min_features_for_keyframe: 1
nb_vote_for_every_first: 0
diff --git a/demos/result.csv b/demos/result.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aacb66784956486e690447764e07455294ca58c9
--- /dev/null
+++ b/demos/result.csv
@@ -0,0 +1,164 @@
+id,t,px,py,pz,qx,qy,qz,qw
+0,0.000000000,1.84381e-13,-2.798e-11,-1.70113e-12,6.32843e-10,3.91335e-11,7.99363e-11,1,
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diff --git a/demos/test.csv b/demos/test.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b47298165e8b7203544e602d2b40ed2e0706d25d
--- /dev/null
+++ b/demos/test.csv
@@ -0,0 +1,483 @@
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diff --git a/include/objectslam/feature/feature_object.h b/include/objectslam/feature/feature_object.h
index 5b0c06d5c4613f6a4bf43bc1580bbeb1a8b1069a..24a919ba9e6a9b5d6b31ed313ba1eb72d15f31b8 100644
--- a/include/objectslam/feature/feature_object.h
+++ b/include/objectslam/feature/feature_object.h
@@ -14,7 +14,7 @@ class FeatureObject : public FeatureBase
{
public:
- FeatureObject(const Eigen::Vector7d & _measurement,
+ FeatureObject(const Eigen::Vector7d & _measurement,
const Eigen::Matrix6d & _meas_covariance,
const std::string & _object_type,
UncertaintyType _uncertainty_type = UNCERTAINTY_IS_COVARIANCE);
@@ -25,7 +25,7 @@ class FeatureObject : public FeatureBase
* Returns object type
*
**/
- std::string getObjectType() const;
+ std::string getObjectType() const;
private: