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Export pose3 g2o #637

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Nov 16, 2022
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Export pose3 g2o #637

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41 changes: 40 additions & 1 deletion src/services/g2oParser.jl
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Expand Up @@ -7,7 +7,8 @@ export importG2o, exportG2o, findCommand, parseG2oInstruction!


global commands = Dict(Pose2Pose2 => :EDGE_SE2,
Pose2Point2BearingRange => :LANDMARK)
Pose2Point2BearingRange => :LANDMARK,
Pose3Pose3 => Symbol("EDGE_SE3:QUAT"))
#

"""
Expand Down Expand Up @@ -203,6 +204,37 @@ function stringG2o!(dfg::AbstractDFG,
return "$comm $(varlist[1]) $(varlist[2]) $(fnc.bearing.μ) $(fnc.range.μ) $(INF[1]) $(INF[2]) $(INF[3])"
end

function stringG2o!(dfg::AbstractDFG,
fc::Symbol,
fnc::Pose3Pose3,
varIntLabel::OrderedDict,
uniqVarInt::Vector{Int};
overwriteMapping::Dict=Dict())::String
#
global commands
# get variable numbers
varlist = getVariableListInts!(getFactor(dfg,fc), uniqVarInt, varIntLabel)
# get information matrix
INF = 1 ./ sqrt(fnc.Z.Σ.mat)
INF[INF .== Inf] .= 0

p = DFG.getPoint(Pose3, fnc.Z.μ)
R = p.x[2]
Q = convert(TU.Quaternion, TU.SO3(R))

# get command
comm = !haskey(overwriteMapping, Pose3Pose3) ? commands[Pose3Pose3] : overwriteMapping[Pose3Pose3]
return """$comm $(varlist[1]) $(varlist[2]) \
$(fnc.Z.μ[1]) $(fnc.Z.μ[2]) $(fnc.Z.μ[3]) \
$(Q.v[1]) $(Q.v[2]) $(Q.v[3]) $(Q.s) \
$(INF[1,1]) $(INF[1,2]) $(INF[1,3]) $(INF[1,4]) $(INF[1,5]) $(INF[1,6]) \
$(INF[2,2]) $(INF[2,3]) $(INF[2,4]) $(INF[2,5]) $(INF[2,6]) \
$(INF[3,3]) $(INF[3,4]) $(INF[3,5]) $(INF[3,6]) \
$(INF[4,4]) $(INF[4,5]) $(INF[4,6]) \
$(INF[5,5]) $(INF[5,6]) \
$(INF[6,6])"""
end

function stringG2o!(dfg::AbstractDFG,
fc::Symbol,
fnc,
Expand Down Expand Up @@ -265,6 +297,13 @@ function exportG2o(
if vartype === Pose2()
(x,y,θ) = getPPESuggested(dfg, label, solveKey)
write(io, "VERTEX_SE2 $i $x $y $θ\n")
elseif vartype === Pose3()
Xc = getPPESuggested(dfg, label, solveKey)
p = getPoint(Pose3, Xc)
x,y,z = p.x[1]
R = p.x[2]
Q = convert(TU.Quaternion, TU.SO3(R))
write(io, "VERTEX_SE3:QUAT $i $x $y $z $(Q.v[1]) $(Q.v[2]) $(Q.v[3]) $(Q.s)\n")
else
#TODO variable type Pose2 Point2 Pose3(VERTEX_SE3:QUAT ID x y z q_x q_y q_z q_w) Point3
error("exportG2o does not support $vartype, open an issue if you would like support")
Expand Down