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Change submap state handling in 3D. (#327) 

This follows the new code in 2D. Also adds a check that
new constraints are only attempted for finished submaps.
master
Wolfgang Hess 2017-06-09 17:40:22 +02:00 committed by GitHub
parent f07f888dab
commit 1a376c07b2
3 changed files with 36 additions and 32 deletions
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4
cartographer/mapping_2d/sparse_pose_graph.cc
View File

@ -153,6 +153,8 @@ void SparsePoseGraph::AddImuData(const int trajectory_id, common::Time time,
void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
const mapping::SubmapId& submap_id) {
CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished);
// Only globally match against submaps not in this trajectory.
if (node_id.trajectory_id != submap_id.trajectory_id &&
global_localization_samplers_[node_id.trajectory_id]->Pulse()) {
@ -260,10 +262,10 @@ void SparsePoseGraph::ComputeConstraintsForScan(
const mapping::SubmapId finished_submap_id = GetSubmapId(finished_submap);
SubmapData& finished_submap_data = submap_data_.at(finished_submap_id);
CHECK(finished_submap_data.state == SubmapState::kActive);
finished_submap_data.state = SubmapState::kFinished;
// We have a new completed submap, so we look into adding constraints for
// old scans.
ComputeConstraintsForOldScans(finished_submap);
finished_submap_data.state = SubmapState::kFinished;
}
constraint_builder_.NotifyEndOfScan();
++num_scans_since_last_loop_closure_;

50
cartographer/mapping_3d/sparse_pose_graph.cc
View File

@ -109,9 +109,9 @@ void SparsePoseGraph::AddScan(
if (submap_ids_.count(insertion_submaps.back()) == 0) {
const mapping::SubmapId submap_id =
submap_states_.Append(trajectory_id, SubmapState());
submap_data_.Append(trajectory_id, SubmapData());
submap_ids_.emplace(insertion_submaps.back(), submap_id);
submap_states_.at(submap_id).submap = insertion_submaps.back();
submap_data_.at(submap_id).submap = insertion_submaps.back();
}
const Submap* const finished_submap =
insertion_submaps.front()->finished ? insertion_submaps.front() : nullptr;
@ -149,6 +149,8 @@ void SparsePoseGraph::AddImuData(const int trajectory_id, common::Time time,
void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
const mapping::SubmapId& submap_id) {
CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished);
const transform::Rigid3d inverse_submap_pose =
optimization_problem_.submap_data()
.at(submap_id.trajectory_id)
@ -163,7 +165,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
std::vector<mapping::TrajectoryNode> submap_nodes;
for (const mapping::NodeId& submap_node_id :
submap_states_.at(submap_id).node_ids) {
submap_data_.at(submap_id).node_ids) {
submap_nodes.push_back(mapping::TrajectoryNode{
trajectory_nodes_.at(submap_node_id).constant_data,
inverse_submap_pose * trajectory_nodes_.at(submap_node_id).pose});
@ -185,7 +187,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
// yaw component will be handled by the matching procedure in the
// FastCorrelativeScanMatcher, and the given yaw is essentially ignored.
constraint_builder_.MaybeAddGlobalConstraint(
submap_id, submap_states_.at(submap_id).submap, node_id,
submap_id, submap_data_.at(submap_id).submap, node_id,
&trajectory_nodes_.at(node_id).constant_data->range_data_3d.returns,
submap_nodes, initial_relative_pose.rotation(),
&trajectory_connectivity_);
@ -198,7 +200,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
if (node_id.trajectory_id == submap_id.trajectory_id ||
scan_and_submap_trajectories_connected) {
constraint_builder_.MaybeAddConstraint(
submap_id, submap_states_.at(submap_id).submap, node_id,
submap_id, submap_data_.at(submap_id).submap, node_id,
&trajectory_nodes_.at(node_id).constant_data->range_data_3d.returns,
submap_nodes, initial_relative_pose);
}
@ -207,7 +209,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
void SparsePoseGraph::ComputeConstraintsForOldScans(const Submap* submap) {
const auto submap_id = GetSubmapId(submap);
const auto& submap_state = submap_states_.at(submap_id);
const auto& submap_data = submap_data_.at(submap_id);
const auto& node_data = optimization_problem_.node_data();
for (size_t trajectory_id = 0; trajectory_id != node_data.size();
@ -216,7 +218,7 @@ void SparsePoseGraph::ComputeConstraintsForOldScans(const Submap* submap) {
++node_index) {
const mapping::NodeId node_id{static_cast<int>(trajectory_id),
static_cast<int>(node_index)};
if (submap_state.node_ids.count(node_id) == 0) {
if (submap_data.node_ids.count(node_id) == 0) {
ComputeConstraint(node_id, submap_id);
}
}
@ -248,8 +250,8 @@ void SparsePoseGraph::ComputeConstraintsForScan(
scan_data->time, optimized_pose);
for (const Submap* submap : insertion_submaps) {
const mapping::SubmapId submap_id = GetSubmapId(submap);
CHECK(!submap_states_.at(submap_id).finished);
submap_states_.at(submap_id).node_ids.emplace(node_id);
CHECK(submap_data_.at(submap_id).state == SubmapState::kActive);
submap_data_.at(submap_id).node_ids.emplace(node_id);
const transform::Rigid3d constraint_transform =
submap->local_pose.inverse() * pose;
constraints_.push_back(
@ -260,14 +262,14 @@ void SparsePoseGraph::ComputeConstraintsForScan(
Constraint::INTRA_SUBMAP});
}
for (int trajectory_id = 0; trajectory_id < submap_states_.num_trajectories();
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
for (int submap_index = 0;
submap_index < submap_states_.num_indices(trajectory_id);
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
const mapping::SubmapId submap_id{trajectory_id, submap_index};
if (submap_states_.at(submap_id).finished) {
CHECK_EQ(submap_states_.at(submap_id).node_ids.count(node_id), 0);
if (submap_data_.at(submap_id).state == SubmapState::kFinished) {
CHECK_EQ(submap_data_.at(submap_id).node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id);
}
}
@ -275,12 +277,12 @@ void SparsePoseGraph::ComputeConstraintsForScan(
if (finished_submap != nullptr) {
const mapping::SubmapId finished_submap_id = GetSubmapId(finished_submap);
SubmapState& finished_submap_state = submap_states_.at(finished_submap_id);
CHECK(!finished_submap_state.finished);
SubmapData& finished_submap_data = submap_data_.at(finished_submap_id);
CHECK(finished_submap_data.state == SubmapState::kActive);
finished_submap_data.state = SubmapState::kFinished;
// We have a new completed submap, so we look into adding constraints for
// old scans.
ComputeConstraintsForOldScans(finished_submap);
finished_submap_state.finished = true;
}
constraint_builder_.NotifyEndOfScan();
++num_scans_since_last_loop_closure_;
@ -420,14 +422,14 @@ std::vector<SparsePoseGraph::Constraint> SparsePoseGraph::constraints() {
transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
const int trajectory_id) {
common::MutexLocker locker(&mutex_);
if (submap_states_.num_trajectories() <= trajectory_id ||
submap_states_.num_indices(trajectory_id) == 0) {
if (submap_data_.num_trajectories() <= trajectory_id ||
submap_data_.num_indices(trajectory_id) == 0) {
return transform::Rigid3d::Identity();
}
const auto extrapolated_submap_transforms =
ExtrapolateSubmapTransforms(optimized_submap_transforms_, trajectory_id);
return extrapolated_submap_transforms.back() *
submap_states_
submap_data_
.at(mapping::SubmapId{
trajectory_id,
static_cast<int>(extrapolated_submap_transforms.size()) - 1})
@ -450,17 +452,17 @@ std::vector<transform::Rigid3d> SparsePoseGraph::ExtrapolateSubmapTransforms(
const std::vector<std::vector<sparse_pose_graph::SubmapData>>&
submap_transforms,
const int trajectory_id) const {
if (trajectory_id >= submap_states_.num_trajectories()) {
if (trajectory_id >= submap_data_.num_trajectories()) {
return {transform::Rigid3d::Identity()};
}
// Submaps for which we have optimized poses.
std::vector<transform::Rigid3d> result;
for (int submap_index = 0;
submap_index != submap_states_.num_indices(trajectory_id);
submap_index != submap_data_.num_indices(trajectory_id);
++submap_index) {
const mapping::SubmapId submap_id{trajectory_id, submap_index};
const auto& state = submap_states_.at(submap_id);
const auto& submap_data = submap_data_.at(submap_id);
if (static_cast<size_t>(trajectory_id) < submap_transforms.size() &&
result.size() < submap_transforms.at(trajectory_id).size()) {
// Submaps for which we have optimized poses.
@ -475,8 +477,8 @@ std::vector<transform::Rigid3d> SparsePoseGraph::ExtrapolateSubmapTransforms(
trajectory_id, static_cast<int>(result.size()) - 1};
result.push_back(
result.back() *
submap_states_.at(previous_submap_id).submap->local_pose.inverse() *
state.submap->local_pose);
submap_data_.at(previous_submap_id).submap->local_pose.inverse() *
submap_data.submap->local_pose);
}
}

14
cartographer/mapping_3d/sparse_pose_graph.h
View File

@ -90,7 +90,11 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
std::vector<Constraint> constraints() override EXCLUDES(mutex_);
private:
struct SubmapState {
// The current state of the submap in the background threads. When this
// transitions to kFinished, all scans are tried to match against this submap.
// Likewise, all new scans are matched against submaps which are finished.
enum class SubmapState { kActive, kFinished, kTrimmed };
struct SubmapData {
const Submap* submap = nullptr;
// IDs of the scans that were inserted into this map together with
@ -98,11 +102,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// becomes 'finished'.
std::set<mapping::NodeId> node_ids;
// Whether in the current state of the background thread this submap is
// finished. When this transitions to true, all scans are tried to match
// against this submap. Likewise, all new scans are matched against submaps
// which are finished.
bool finished = false;
SubmapState state = SubmapState::kActive;
};
// Handles a new work item.
@ -182,7 +182,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// before they take part in the background computations.
std::map<const mapping::Submap*, mapping::SubmapId> submap_ids_
GUARDED_BY(mutex_);
mapping::NestedVectorsById<SubmapState, mapping::SubmapId> submap_states_
mapping::NestedVectorsById<SubmapData, mapping::SubmapId> submap_data_
GUARDED_BY(mutex_);
// Connectivity structure of our trajectories by IDs.