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Use vector<map<>> for node_data. (#472)

master
Jihoon Lee 2017-09-04 18:01:44 +02:00 committed by Wolfgang Hess
parent c8de50bd2b
commit 18d8ea75fa
3 changed files with 82 additions and 82 deletions
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44
cartographer/mapping_2d/sparse_pose_graph.cc
View File

@ -195,8 +195,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
.pose.inverse() *
optimization_problem_.node_data()
.at(node_id.trajectory_id)
.at(node_id.node_index - optimization_problem_.num_trimmed_nodes(
node_id.trajectory_id))
.at(node_id.node_index)
.pose;
constraint_builder_.MaybeAddConstraint(
submap_id, submap_data_.at(submap_id).submap.get(), node_id,
@ -212,14 +211,9 @@ void SparsePoseGraph::ComputeConstraintsForOldScans(
const auto& node_data = optimization_problem_.node_data();
for (size_t trajectory_id = 0; trajectory_id != node_data.size();
++trajectory_id) {
for (size_t node_data_index = 0;
node_data_index != node_data[trajectory_id].size();
++node_data_index) {
const int node_index =
node_data_index +
optimization_problem_.num_trimmed_nodes(trajectory_id);
for (const auto& index_node_data : node_data[trajectory_id]) {
const mapping::NodeId node_id{static_cast<int>(trajectory_id),
static_cast<int>(node_index)};
index_node_data.first};
CHECK(!trajectory_nodes_.at(node_id).trimmed());
if (submap_data.node_ids.count(node_id) == 0) {
ComputeConstraint(node_id, submap_id);
@ -247,12 +241,14 @@ void SparsePoseGraph::ComputeConstraintsForScan(
const mapping::NodeId node_id{
matching_id.trajectory_id,
static_cast<size_t>(matching_id.trajectory_id) <
optimization_problem_.node_data().size()
optimization_problem_.node_data().size() &&
!optimization_problem_.node_data()[matching_id.trajectory_id]
.empty()
? static_cast<int>(optimization_problem_.node_data()
.at(matching_id.trajectory_id)
.size()) +
optimization_problem_.num_trimmed_nodes(
matching_id.trajectory_id)
.rbegin()
->first +
1)
: 0};
const auto& scan_data = trajectory_nodes_.at(node_id).constant_data;
optimization_problem_.AddTrajectoryNode(
@ -349,16 +345,14 @@ void SparsePoseGraph::WaitForAllComputations() {
common::FromSeconds(1.))) {
std::ostringstream progress_info;
progress_info << "Optimizing: " << std::fixed << std::setprecision(1)
<< 100. *
(constraint_builder_.GetNumFinishedScans() -
<< 100. * (constraint_builder_.GetNumFinishedScans() -
num_finished_scans_at_start) /
(num_trajectory_nodes_ - num_finished_scans_at_start)
<< "%...";
std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
}
std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
constraint_builder_.WhenDone(
[this, &notification](
constraint_builder_.WhenDone([this, &notification](
const sparse_pose_graph::ConstraintBuilder::Result& result) {
common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end());
@ -441,15 +435,12 @@ void SparsePoseGraph::RunOptimization() {
const auto& node_data = optimization_problem_.node_data();
for (int trajectory_id = 0;
trajectory_id != static_cast<int>(node_data.size()); ++trajectory_id) {
int node_data_index = 0;
const int num_nodes = trajectory_nodes_.num_indices(trajectory_id);
int node_index = optimization_problem_.num_trimmed_nodes(trajectory_id);
for (; node_data_index != static_cast<int>(node_data[trajectory_id].size());
++node_data_index, ++node_index) {
const mapping::NodeId node_id{trajectory_id, node_index};
for (const auto& node_data_index : node_data.at(trajectory_id)) {
const mapping::NodeId node_id{trajectory_id, node_data_index.first};
auto& node = trajectory_nodes_.at(node_id);
node.pose =
transform::Embed3D(node_data[trajectory_id][node_data_index].pose) *
transform::Embed3D(node_data_index.second.pose) *
transform::Rigid3d::Rotation(node.constant_data->gravity_alignment);
}
// Extrapolate all point cloud poses that were added later.
@ -459,7 +450,12 @@ void SparsePoseGraph::RunOptimization() {
optimized_submap_transforms_, trajectory_id);
const transform::Rigid3d old_global_to_new_global =
local_to_new_global * local_to_old_global.inverse();
for (; node_index < num_nodes; ++node_index) {
int last_optimized_node_index =
node_data.at(trajectory_id).empty()
? 0
: node_data.at(trajectory_id).rbegin()->first;
for (int node_index = last_optimized_node_index + 1; node_index < num_nodes;
++node_index) {
const mapping::NodeId node_id{trajectory_id, node_index};
auto& node_pose = trajectory_nodes_.at(node_id).pose;
node_pose = old_global_to_new_global * node_pose;

100
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
View File

@ -84,25 +84,28 @@ void OptimizationProblem::AddTrajectoryNode(
CHECK_GE(trajectory_id, 0);
node_data_.resize(
std::max(node_data_.size(), static_cast<size_t>(trajectory_id) + 1));
node_data_[trajectory_id].push_back(NodeData{time, initial_pose, pose});
trajectory_data_.resize(std::max(trajectory_data_.size(), node_data_.size()));
auto& trajectory_data = trajectory_data_.at(trajectory_id);
node_data_[trajectory_id].emplace(trajectory_data.next_node_index,
NodeData{time, initial_pose, pose});
++trajectory_data.next_node_index;
}
void OptimizationProblem::TrimTrajectoryNode(const mapping::NodeId& node_id) {
auto& trajectory_data = trajectory_data_.at(node_id.trajectory_id);
// We only allow trimming from the start.
CHECK_EQ(trajectory_data.num_trimmed_nodes, node_id.node_index);
auto& node_data = node_data_.at(node_id.trajectory_id);
CHECK(!node_data.empty());
if (node_id.trajectory_id < static_cast<int>(imu_data_.size())) {
const common::Time node_time = node_data.front().time;
CHECK(node_data.erase(node_id.node_index));
if (!node_data.empty() &&
node_id.trajectory_id < static_cast<int>(imu_data_.size())) {
auto node_it = node_data.begin();
const common::Time node_time = node_it->second.time;
auto& imu_data = imu_data_.at(node_id.trajectory_id);
while (imu_data.size() > 1 && imu_data[1].time <= node_time) {
imu_data.pop_front();
}
}
node_data.pop_front();
++trajectory_data.num_trimmed_nodes;
}
void OptimizationProblem::AddSubmap(const int trajectory_id,
@ -143,7 +146,7 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
// TODO(hrapp): Move ceres data into SubmapData.
std::vector<std::map<int, std::array<double, 3>>> C_submaps(
submap_data_.size());
std::vector<std::vector<std::array<double, 3>>> C_nodes(node_data_.size());
std::vector<std::map<int, std::array<double, 3>>> C_nodes(node_data_.size());
bool first_submap = true;
for (size_t trajectory_id = 0; trajectory_id != submap_data_.size();
++trajectory_id) {
@ -168,14 +171,15 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
++trajectory_id) {
const bool frozen = frozen_trajectories.count(trajectory_id);
// Reserve guarantees that data does not move, so the pointers for Ceres
// stay valid.
C_nodes[trajectory_id].reserve(node_data_[trajectory_id].size());
for (const NodeData& node_data : node_data_[trajectory_id]) {
C_nodes[trajectory_id].push_back(FromPose(node_data.pose));
problem.AddParameterBlock(C_nodes[trajectory_id].back().data(), 3);
for (const auto& index_node_data : node_data_[trajectory_id]) {
const int node_index = index_node_data.first;
const NodeData& node_data = index_node_data.second;
C_nodes[trajectory_id].emplace(node_index, FromPose(node_data.pose));
problem.AddParameterBlock(C_nodes[trajectory_id].at(node_index).data(),
3);
if (frozen) {
problem.SetParameterBlockConstant(C_nodes[trajectory_id].back().data());
problem.SetParameterBlockConstant(
C_nodes[trajectory_id].at(node_index).data());
}
}
}
@ -192,9 +196,7 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
.at(constraint.submap_id.submap_index)
.data(),
C_nodes.at(constraint.node_id.trajectory_id)
.at(constraint.node_id.node_index -
trajectory_data_.at(constraint.node_id.trajectory_id)
.num_trimmed_nodes)
.at(constraint.node_id.node_index)
.data());
}
@ -202,27 +204,37 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
// if odometry is not available.
for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
++trajectory_id) {
for (size_t node_data_index = 1;
node_data_index < node_data_[trajectory_id].size();
++node_data_index) {
if (node_data_[trajectory_id].empty()) {
continue;
}
for (auto node_it = node_data_[trajectory_id].begin();;) {
const int node_index = node_it->first;
const NodeData& node_data = node_it->second;
++node_it;
if (node_it == node_data_[trajectory_id].end()) {
break;
}
const int next_node_index = node_it->first;
const NodeData& next_node_data = node_it->second;
if (next_node_index != node_index + 1) {
continue;
}
const bool odometry_available =
trajectory_id < odometry_data_.size() &&
odometry_data_[trajectory_id].Has(
node_data_[trajectory_id][node_data_index].time) &&
node_data_[trajectory_id][next_node_index].time) &&
odometry_data_[trajectory_id].Has(
node_data_[trajectory_id][node_data_index - 1].time);
node_data_[trajectory_id][node_index].time);
const transform::Rigid3d relative_pose =
odometry_available
? odometry_data_[trajectory_id]
.Lookup(
node_data_[trajectory_id][node_data_index - 1].time)
.inverse() *
odometry_data_[trajectory_id].Lookup(
node_data_[trajectory_id][node_data_index].time)
: transform::Embed3D(
node_data_[trajectory_id][node_data_index - 1]
.initial_pose.inverse() *
node_data_[trajectory_id][node_data_index].initial_pose);
? odometry_data_[trajectory_id].Lookup(node_data.time).inverse() *
odometry_data_[trajectory_id].Lookup(next_node_data.time)
: transform::Embed3D(node_data.initial_pose.inverse() *
next_node_data.initial_pose);
problem.AddResidualBlock(
new ceres::AutoDiffCostFunction<SpaCostFunction, 3, 3, 3>(
new SpaCostFunction(Constraint::Pose{
@ -230,8 +242,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
options_.consecutive_scan_translation_penalty_factor(),
options_.consecutive_scan_rotation_penalty_factor()})),
nullptr /* loss function */,
C_nodes[trajectory_id][node_data_index - 1].data(),
C_nodes[trajectory_id][node_data_index].data());
C_nodes[trajectory_id][node_index].data(),
C_nodes[trajectory_id][next_node_index].data());
}
}
@ -254,16 +266,14 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
}
for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
++trajectory_id) {
for (size_t node_data_index = 0;
node_data_index != node_data_[trajectory_id].size();
++node_data_index) {
node_data_[trajectory_id][node_data_index].pose =
ToPose(C_nodes[trajectory_id][node_data_index]);
for (auto& index_node_data : node_data_[trajectory_id]) {
index_node_data.second.pose =
ToPose(C_nodes[trajectory_id].at(index_node_data.first));
}
}
}
const std::vector<std::deque<NodeData>>& OptimizationProblem::node_data()
const std::vector<std::map<int, NodeData>>& OptimizationProblem::node_data()
const {
return node_data_;
}
@ -273,10 +283,6 @@ const std::vector<std::map<int, SubmapData>>& OptimizationProblem::submap_data()
return submap_data_;
}
int OptimizationProblem::num_trimmed_nodes(int trajectory_id) const {
return trajectory_data_.at(trajectory_id).num_trimmed_nodes;
}
} // namespace sparse_pose_graph
} // namespace mapping_2d
} // namespace cartographer

8
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
View File

@ -76,20 +76,18 @@ class OptimizationProblem {
void Solve(const std::vector<Constraint>& constraints,
const std::set<int>& frozen_trajectories);
const std::vector<std::deque<NodeData>>& node_data() const;
const std::vector<std::map<int, NodeData>>& node_data() const;
const std::vector<std::map<int, SubmapData>>& submap_data() const;
int num_trimmed_nodes(int trajectory_id) const;
private:
struct TrajectoryData {
// TODO(hrapp): Remove, once we can relabel constraints.
int next_submap_index = 0;
int num_trimmed_nodes = 0;
int next_node_index = 0;
};
mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
std::vector<std::deque<sensor::ImuData>> imu_data_;
std::vector<std::deque<NodeData>> node_data_;
std::vector<std::map<int, NodeData>> node_data_;
std::vector<transform::TransformInterpolationBuffer> odometry_data_;
std::vector<std::map<int, SubmapData>> submap_data_;
std::vector<TrajectoryData> trajectory_data_;