diff --git a/gtsam_unstable/examples/IncrementalFixedLagSmootherExample.cpp b/examples/IncrementalFixedLagSmootherExample.cpp similarity index 92% rename from gtsam_unstable/examples/IncrementalFixedLagSmootherExample.cpp rename to examples/IncrementalFixedLagSmootherExample.cpp index ede367f894..73beb6a75f 100644 --- a/gtsam_unstable/examples/IncrementalFixedLagSmootherExample.cpp +++ b/examples/IncrementalFixedLagSmootherExample.cpp @@ -11,9 +11,9 @@ /** * @file IncrementalFixedLagExample.cpp -* @brief An incremental fixed-lag smoother in GTSAM using real-world data. +* @brief Example of incremental fixed-lag smoother using real-world data. * @author Xiangcheng Hu (xhubd@connect.ust.hk), Frank Dellaert, Kevin Doherty -* @date Janaury 2025 +* @date Janaury 15, 2025 * * Key objectives: * - Validate `IncrementalFixedLagSmoother` functionality with real-world data. @@ -58,7 +58,6 @@ #include #include #include -#include #include #include #include @@ -146,12 +145,9 @@ void saveG2oGraph(const NonlinearFactorGraph &graph, const Values &estimate, * 5) Save the resulting factor graph and estimate of the last sliding window to a .g2o file. */ int main() { - // Path to the test data file - ifstream infile("IncrementalFixedLagSmootherTestData.txt"); - if (!infile.is_open()) { - cerr << "Failed to open factor graph file: IncrementalFixedLagSmootherTestData.txt" << endl; - return -1; - } + string factor_loc = findExampleDataFile("issue1452.txt"); + ifstream factor_file(factor_loc.c_str()); + cout << "Reading factors data file: " << factor_loc << endl; // Configure ISAM2 parameters for the fixed-lag smoother ISAM2Params isamParameters; @@ -172,15 +168,16 @@ int main() { FixedLagSmoother::KeyTimestampMap newTimestamps; // For tracking the latest estimate of all states in the sliding window Values currentEstimate; - Pose3 lastPose; // Used to provide an initial guess for new poses + Pose3 lastPose; // Read and process each line in the factor graph file string line; int lineCount = 0; - while (getline(infile, line)) { + while (getline(factor_file, line)) { if (line.empty()) continue; // Skip empty lines cout << "\n======================== Processing line " << ++lineCount << " =========================" << endl; + istringstream iss(line); int factorType; iss >> factorType; @@ -198,7 +195,7 @@ int main() { Matrix6 cov = readCovarianceMatrix(iss); auto noise = noiseModel::Gaussian::Covariance(cov); // Add prior factor - newFactors.add(PriorFactor(X(key), pose, noise)); + newFactors.addPrior(X(key), pose, noise); cout << "Add PRIOR factor on key " << key << endl; // Provide initial guess if not already in the graph if (!newValues.exists(X(key))) { @@ -219,7 +216,7 @@ int main() { Matrix6 cov = readCovarianceMatrix(iss); auto noise = noiseModel::Gaussian::Covariance(cov); // Add between factor - newFactors.add(BetweenFactor(X(key1), X(key2), relativePose, noise)); + newFactors.emplace_shared>(X(key1), X(key2), relativePose, noise); cout << "Add BETWEEN factor: " << key1 << " -> " << key2 << endl; // Provide an initial guess if needed if (!newValues.exists(X(key2))) { @@ -256,6 +253,7 @@ int main() { Key lastKey = currentEstimate.keys().back(); lastPose = currentEstimate.at(lastKey); } + // Clear containers for the next iteration newFactors.resize(0); newValues.clear(); @@ -265,9 +263,10 @@ int main() { } } - // Save final graph and estimates to a g2o file // The results of the last sliding window are saved to a g2o file for visualization or further analysis. - saveG2oGraph(smoother.getFactors(), currentEstimate, path + "isam", lineCount); - infile.close(); + saveG2oGraph(smoother.getFactors(), currentEstimate, "isam", lineCount); + factor_file.close(); + return 0; -} \ No newline at end of file +} + diff --git a/gtsam_unstable/examples/IncrementalFixedLagSmootherTestData.txt b/gtsam_unstable/examples/IncrementalFixedLagSmootherTestData.txt deleted file mode 100644 index 518f1fe3e8..0000000000 --- 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