Rename mapping_2d::PoseGraph to mapping::PoseGraph2D. (#917)
[rCode structure RFC](e11bca586f/text/0000-code-structure.md)
master
Alexander Belyaev
GitHub
parent
a338b2e339
commit
43544f0fbc
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@ -20,53 +20,52 @@
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namespace cartographer {
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namespace mapping {
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LocalSlamResultData::LocalSlamResultData(const std::string &sensor_id,
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LocalSlamResultData::LocalSlamResultData(const std::string& sensor_id,
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common::Time time)
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: Data(sensor_id), time_(time) {}
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LocalSlamResult2D::LocalSlamResult2D(
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const std::string &sensor_id, common::Time time,
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const std::string& sensor_id, common::Time time,
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std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
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const std::vector<std::shared_ptr<const mapping_2d::Submap>>
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&insertion_submaps)
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const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
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insertion_submaps)
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: LocalSlamResultData(sensor_id, time),
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node_data_(node_data),
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insertion_submaps_(insertion_submaps) {}
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void LocalSlamResult2D::AddToTrajectoryBuilder(
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mapping::TrajectoryBuilderInterface *const trajectory_builder) {
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mapping::TrajectoryBuilderInterface* const trajectory_builder) {
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trajectory_builder->AddLocalSlamResultData(
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common::make_unique<LocalSlamResult2D>(*this));
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}
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void LocalSlamResult2D::AddToPoseGraph(int trajectory_id,
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mapping::PoseGraph *pose_graph) const {
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DCHECK(dynamic_cast<mapping_2d::PoseGraph *>(pose_graph));
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mapping_2d::PoseGraph *pose_graph_2d =
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static_cast<mapping_2d::PoseGraph *>(pose_graph);
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mapping::PoseGraph* pose_graph) const {
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DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph));
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PoseGraph2D* pose_graph_2d = static_cast<PoseGraph2D*>(pose_graph);
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pose_graph_2d->AddNode(node_data_, trajectory_id, insertion_submaps_);
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}
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LocalSlamResult3D::LocalSlamResult3D(
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const std::string &sensor_id, common::Time time,
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const std::string& sensor_id, common::Time time,
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std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
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const std::vector<std::shared_ptr<const mapping_3d::Submap>>
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&insertion_submaps)
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const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
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insertion_submaps)
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: LocalSlamResultData(sensor_id, time),
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node_data_(node_data),
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insertion_submaps_(insertion_submaps) {}
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void LocalSlamResult3D::AddToTrajectoryBuilder(
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mapping::TrajectoryBuilderInterface *const trajectory_builder) {
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mapping::TrajectoryBuilderInterface* const trajectory_builder) {
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trajectory_builder->AddLocalSlamResultData(
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common::make_unique<LocalSlamResult3D>(*this));
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}
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void LocalSlamResult3D::AddToPoseGraph(int trajectory_id,
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mapping::PoseGraph *pose_graph) const {
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DCHECK(dynamic_cast<mapping_3d::PoseGraph *>(pose_graph));
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mapping_3d::PoseGraph *pose_graph_3d =
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static_cast<mapping_3d::PoseGraph *>(pose_graph);
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mapping::PoseGraph* pose_graph) const {
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DCHECK(dynamic_cast<mapping_3d::PoseGraph*>(pose_graph));
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mapping_3d::PoseGraph* pose_graph_3d =
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static_cast<mapping_3d::PoseGraph*>(pose_graph);
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pose_graph_3d->AddNode(node_data_, trajectory_id, insertion_submaps_);
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}
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@ -17,7 +17,7 @@
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#ifndef CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
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#define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
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#include "cartographer/mapping_2d/pose_graph.h"
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#include "cartographer/mapping_2d/pose_graph_2d.h"
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#include "cartographer/mapping_3d/pose_graph.h"
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#include "cartographer/sensor/data.h"
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@ -27,11 +27,11 @@ namespace mapping {
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class TrajectoryBuilderInterface;
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class LocalSlamResultData : public cartographer::sensor::Data {
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public:
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LocalSlamResultData(const std::string &sensor_id, common::Time time);
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LocalSlamResultData(const std::string& sensor_id, common::Time time);
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common::Time GetTime() const override { return time_; }
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virtual void AddToPoseGraph(int trajectory_id,
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mapping::PoseGraph *pose_graph) const = 0;
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mapping::PoseGraph* pose_graph) const = 0;
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private:
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common::Time time_;
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@ -40,15 +40,15 @@ class LocalSlamResultData : public cartographer::sensor::Data {
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class LocalSlamResult2D : public LocalSlamResultData {
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public:
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LocalSlamResult2D(
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const std::string &sensor_id, common::Time time,
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const std::string& sensor_id, common::Time time,
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std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
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const std::vector<std::shared_ptr<const mapping_2d::Submap>>
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&insertion_submaps);
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const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
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insertion_submaps);
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void AddToTrajectoryBuilder(
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mapping::TrajectoryBuilderInterface *const trajectory_builder) override;
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mapping::TrajectoryBuilderInterface* const trajectory_builder) override;
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void AddToPoseGraph(int trajectory_id,
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mapping::PoseGraph *pose_graph) const override;
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mapping::PoseGraph* pose_graph) const override;
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private:
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std::shared_ptr<const mapping::TrajectoryNode::Data> node_data_;
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@ -58,15 +58,15 @@ class LocalSlamResult2D : public LocalSlamResultData {
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class LocalSlamResult3D : public LocalSlamResultData {
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public:
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LocalSlamResult3D(
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const std::string &sensor_id, common::Time time,
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const std::string& sensor_id, common::Time time,
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std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
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const std::vector<std::shared_ptr<const mapping_3d::Submap>>
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&insertion_submaps);
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const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
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insertion_submaps);
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void AddToTrajectoryBuilder(
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mapping::TrajectoryBuilderInterface *const trajectory_builder) override;
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mapping::TrajectoryBuilderInterface* const trajectory_builder) override;
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void AddToPoseGraph(int trajectory_id,
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mapping::PoseGraph *pose_graph) const override;
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mapping::PoseGraph* pose_graph) const override;
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private:
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std::shared_ptr<const mapping::TrajectoryNode::Data> node_data_;
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@ -58,7 +58,7 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
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MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
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: options_(options), thread_pool_(options.num_background_threads()) {
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if (options.use_trajectory_builder_2d()) {
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pose_graph_2d_ = common::make_unique<mapping_2d::PoseGraph>(
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pose_graph_2d_ = common::make_unique<PoseGraph2D>(
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options_.pose_graph_options(), &thread_pool_);
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pose_graph_ = pose_graph_2d_.get();
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}
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@ -74,8 +74,6 @@ MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
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}
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}
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MapBuilder::~MapBuilder() {}
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int MapBuilder::AddTrajectoryBuilder(
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const std::set<SensorId>& expected_sensor_ids,
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const proto::TrajectoryBuilderOptions& trajectory_options,
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@ -111,10 +109,9 @@ int MapBuilder::AddTrajectoryBuilder(
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sensor_collator_.get(), trajectory_id, expected_sensor_ids,
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common::make_unique<mapping::GlobalTrajectoryBuilder<
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mapping_2d::LocalTrajectoryBuilder,
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mapping_2d::proto::LocalTrajectoryBuilderOptions,
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mapping_2d::PoseGraph>>(std::move(local_trajectory_builder),
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trajectory_id, pose_graph_2d_.get(),
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local_slam_result_callback)));
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mapping_2d::proto::LocalTrajectoryBuilderOptions, PoseGraph2D>>(
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std::move(local_trajectory_builder), trajectory_id,
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pose_graph_2d_.get(), local_slam_result_callback)));
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}
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if (trajectory_options.pure_localization()) {
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constexpr int kSubmapsToKeep = 3;
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@ -23,9 +23,8 @@
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#include <set>
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#include "cartographer/common/thread_pool.h"
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer/mapping/proto/map_builder_options.pb.h"
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#include "cartographer/mapping_2d/pose_graph.h"
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#include "cartographer/mapping_2d/pose_graph_2d.h"
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#include "cartographer/mapping_3d/pose_graph.h"
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#include "cartographer/sensor/collator_interface.h"
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@ -40,7 +39,7 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
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class MapBuilder : public MapBuilderInterface {
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public:
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explicit MapBuilder(const proto::MapBuilderOptions& options);
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~MapBuilder() override;
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~MapBuilder() override {}
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MapBuilder(const MapBuilder&) = delete;
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MapBuilder& operator=(const MapBuilder&) = delete;
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@ -77,7 +76,7 @@ class MapBuilder : public MapBuilderInterface {
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const proto::MapBuilderOptions options_;
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common::ThreadPool thread_pool_;
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std::unique_ptr<mapping_2d::PoseGraph> pose_graph_2d_;
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std::unique_ptr<PoseGraph2D> pose_graph_2d_;
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std::unique_ptr<mapping_3d::PoseGraph> pose_graph_3d_;
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mapping::PoseGraph* pose_graph_;
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@ -14,7 +14,7 @@
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* limitations under the License.
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*/
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#include "cartographer/mapping_2d/pose_graph.h"
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#include "cartographer/mapping_2d/pose_graph_2d.h"
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#include <algorithm>
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#include <cmath>
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@ -37,23 +37,24 @@
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace mapping {
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PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options,
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common::ThreadPool* thread_pool)
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PoseGraph2D::PoseGraph2D(const proto::PoseGraphOptions& options,
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common::ThreadPool* thread_pool)
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: options_(options),
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optimization_problem_(options_.optimization_problem_options()),
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constraint_builder_(options_.constraint_builder_options(), thread_pool) {}
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PoseGraph::~PoseGraph() {
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PoseGraph2D::~PoseGraph2D() {
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WaitForAllComputations();
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common::MutexLocker locker(&mutex_);
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CHECK(work_queue_ == nullptr);
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}
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std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses(
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std::vector<SubmapId> PoseGraph2D::InitializeGlobalSubmapPoses(
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const int trajectory_id, const common::Time time,
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const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
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const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
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insertion_submaps) {
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CHECK(!insertion_submaps.empty());
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const auto& submap_data = optimization_problem_.submap_data();
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if (insertion_submaps.size() == 1) {
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@ -71,14 +72,14 @@ std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses(
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insertion_submaps[0]->local_pose()));
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}
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CHECK_EQ(1, submap_data.SizeOfTrajectoryOrZero(trajectory_id));
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const mapping::SubmapId submap_id{trajectory_id, 0};
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const SubmapId submap_id{trajectory_id, 0};
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CHECK(submap_data_.at(submap_id).submap == insertion_submaps.front());
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return {submap_id};
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}
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CHECK_EQ(2, insertion_submaps.size());
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const auto end_it = submap_data.EndOfTrajectory(trajectory_id);
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CHECK(submap_data.BeginOfTrajectory(trajectory_id) != end_it);
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const mapping::SubmapId last_submap_id = std::prev(end_it)->id;
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const SubmapId last_submap_id = std::prev(end_it)->id;
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if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) {
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// In this case, 'last_submap_id' is the ID of
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// 'insertions_submaps.front()' and 'insertions_submaps.back()' is new.
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@ -86,29 +87,31 @@ std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses(
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optimization_problem_.AddSubmap(
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trajectory_id,
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first_submap_pose *
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pose_graph::ComputeSubmapPose(*insertion_submaps[0]).inverse() *
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pose_graph::ComputeSubmapPose(*insertion_submaps[1]));
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mapping_2d::pose_graph::ComputeSubmapPose(*insertion_submaps[0])
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.inverse() *
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mapping_2d::pose_graph::ComputeSubmapPose(*insertion_submaps[1]));
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return {last_submap_id,
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mapping::SubmapId{trajectory_id, last_submap_id.submap_index + 1}};
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SubmapId{trajectory_id, last_submap_id.submap_index + 1}};
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}
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CHECK(submap_data_.at(last_submap_id).submap == insertion_submaps.back());
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const mapping::SubmapId front_submap_id{trajectory_id,
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last_submap_id.submap_index - 1};
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const SubmapId front_submap_id{trajectory_id,
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last_submap_id.submap_index - 1};
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CHECK(submap_data_.at(front_submap_id).submap == insertion_submaps.front());
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return {front_submap_id, last_submap_id};
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}
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mapping::NodeId PoseGraph::AddNode(
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std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
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NodeId PoseGraph2D::AddNode(
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std::shared_ptr<const TrajectoryNode::Data> constant_data,
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const int trajectory_id,
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const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
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const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
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insertion_submaps) {
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const transform::Rigid3d optimized_pose(
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GetLocalToGlobalTransform(trajectory_id) * constant_data->local_pose);
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common::MutexLocker locker(&mutex_);
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AddTrajectoryIfNeeded(trajectory_id);
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const mapping::NodeId node_id = trajectory_nodes_.Append(
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trajectory_id, mapping::TrajectoryNode{constant_data, optimized_pose});
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const NodeId node_id = trajectory_nodes_.Append(
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trajectory_id, TrajectoryNode{constant_data, optimized_pose});
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++num_trajectory_nodes_;
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// Test if the 'insertion_submap.back()' is one we never saw before.
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@ -117,8 +120,7 @@ mapping::NodeId PoseGraph::AddNode(
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insertion_submaps.back()) {
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// We grow 'submap_data_' as needed. This code assumes that the first
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// time we see a new submap is as 'insertion_submaps.back()'.
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const mapping::SubmapId submap_id =
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submap_data_.Append(trajectory_id, SubmapData());
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const SubmapId submap_id = submap_data_.Append(trajectory_id, SubmapData());
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submap_data_.at(submap_id).submap = insertion_submaps.back();
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}
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@ -132,7 +134,7 @@ mapping::NodeId PoseGraph::AddNode(
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return node_id;
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}
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void PoseGraph::AddWorkItem(const std::function<void()>& work_item) {
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void PoseGraph2D::AddWorkItem(const std::function<void()>& work_item) {
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if (work_queue_ == nullptr) {
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work_item();
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} else {
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@ -140,7 +142,7 @@ void PoseGraph::AddWorkItem(const std::function<void()>& work_item) {
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}
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}
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void PoseGraph::AddTrajectoryIfNeeded(const int trajectory_id) {
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void PoseGraph2D::AddTrajectoryIfNeeded(const int trajectory_id) {
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trajectory_connectivity_state_.Add(trajectory_id);
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// Make sure we have a sampler for this trajectory.
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if (!global_localization_samplers_[trajectory_id]) {
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@ -150,30 +152,30 @@ void PoseGraph::AddTrajectoryIfNeeded(const int trajectory_id) {
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}
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}
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void PoseGraph::AddImuData(const int trajectory_id,
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const sensor::ImuData& imu_data) {
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void PoseGraph2D::AddImuData(const int trajectory_id,
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const sensor::ImuData& imu_data) {
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common::MutexLocker locker(&mutex_);
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AddWorkItem([=]() REQUIRES(mutex_) {
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optimization_problem_.AddImuData(trajectory_id, imu_data);
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});
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}
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void PoseGraph::AddOdometryData(const int trajectory_id,
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const sensor::OdometryData& odometry_data) {
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void PoseGraph2D::AddOdometryData(const int trajectory_id,
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const sensor::OdometryData& odometry_data) {
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common::MutexLocker locker(&mutex_);
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AddWorkItem([=]() REQUIRES(mutex_) {
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optimization_problem_.AddOdometryData(trajectory_id, odometry_data);
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});
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}
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void PoseGraph::AddFixedFramePoseData(
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void PoseGraph2D::AddFixedFramePoseData(
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const int trajectory_id,
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const sensor::FixedFramePoseData& fixed_frame_pose_data) {
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LOG(FATAL) << "Not yet implemented for 2D.";
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}
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void PoseGraph::AddLandmarkData(int trajectory_id,
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const sensor::LandmarkData& landmark_data)
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void PoseGraph2D::AddLandmarkData(int trajectory_id,
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const sensor::LandmarkData& landmark_data)
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EXCLUDES(mutex_) {
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common::MutexLocker locker(&mutex_);
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AddWorkItem([=]() REQUIRES(mutex_) {
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@ -187,8 +189,8 @@ void PoseGraph::AddLandmarkData(int trajectory_id,
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});
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}
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void PoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
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const mapping::SubmapId& submap_id) {
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void PoseGraph2D::ComputeConstraint(const NodeId& node_id,
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const SubmapId& submap_id) {
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CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished);
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const common::Time node_time = GetLatestNodeTime(node_id, submap_id);
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@ -220,44 +222,46 @@ void PoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
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}
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}
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void PoseGraph::ComputeConstraintsForOldNodes(
|
||||
const mapping::SubmapId& submap_id) {
|
||||
void PoseGraph2D::ComputeConstraintsForOldNodes(const SubmapId& submap_id) {
|
||||
const auto& submap_data = submap_data_.at(submap_id);
|
||||
for (const auto& node_id_data : optimization_problem_.node_data()) {
|
||||
const mapping::NodeId& node_id = node_id_data.id;
|
||||
const NodeId& node_id = node_id_data.id;
|
||||
if (submap_data.node_ids.count(node_id) == 0) {
|
||||
ComputeConstraint(node_id, submap_id);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void PoseGraph::ComputeConstraintsForNode(
|
||||
const mapping::NodeId& node_id,
|
||||
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
|
||||
void PoseGraph2D::ComputeConstraintsForNode(
|
||||
const NodeId& node_id,
|
||||
std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps,
|
||||
const bool newly_finished_submap) {
|
||||
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
|
||||
const std::vector<mapping::SubmapId> submap_ids = InitializeGlobalSubmapPoses(
|
||||
const std::vector<SubmapId> submap_ids = InitializeGlobalSubmapPoses(
|
||||
node_id.trajectory_id, constant_data->time, insertion_submaps);
|
||||
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
|
||||
const mapping::SubmapId matching_id = submap_ids.front();
|
||||
const SubmapId matching_id = submap_ids.front();
|
||||
const transform::Rigid2d pose = transform::Project2D(
|
||||
constant_data->local_pose *
|
||||
transform::Rigid3d::Rotation(constant_data->gravity_alignment.inverse()));
|
||||
const transform::Rigid2d optimized_pose =
|
||||
optimization_problem_.submap_data().at(matching_id).global_pose *
|
||||
pose_graph::ComputeSubmapPose(*insertion_submaps.front()).inverse() *
|
||||
mapping_2d::pose_graph::ComputeSubmapPose(*insertion_submaps.front())
|
||||
.inverse() *
|
||||
pose;
|
||||
optimization_problem_.AddTrajectoryNode(
|
||||
matching_id.trajectory_id, constant_data->time, pose, optimized_pose,
|
||||
constant_data->gravity_alignment);
|
||||
for (size_t i = 0; i < insertion_submaps.size(); ++i) {
|
||||
const mapping::SubmapId submap_id = submap_ids[i];
|
||||
const SubmapId submap_id = submap_ids[i];
|
||||
// Even if this was the last node added to 'submap_id', the submap will
|
||||
// only be marked as finished in 'submap_data_' further below.
|
||||
CHECK(submap_data_.at(submap_id).state == SubmapState::kActive);
|
||||
submap_data_.at(submap_id).node_ids.emplace(node_id);
|
||||
const transform::Rigid2d constraint_transform =
|
||||
pose_graph::ComputeSubmapPose(*insertion_submaps[i]).inverse() * pose;
|
||||
mapping_2d::pose_graph::ComputeSubmapPose(*insertion_submaps[i])
|
||||
.inverse() *
|
||||
pose;
|
||||
constraints_.push_back(Constraint{submap_id,
|
||||
node_id,
|
||||
{transform::Embed3D(constraint_transform),
|
||||
|
|
@ -274,7 +278,7 @@ void PoseGraph::ComputeConstraintsForNode(
|
|||
}
|
||||
|
||||
if (newly_finished_submap) {
|
||||
const mapping::SubmapId finished_submap_id = submap_ids.front();
|
||||
const SubmapId finished_submap_id = submap_ids.front();
|
||||
SubmapData& finished_submap_data = submap_data_.at(finished_submap_id);
|
||||
CHECK(finished_submap_data.state == SubmapState::kActive);
|
||||
finished_submap_data.state = SubmapState::kFinished;
|
||||
|
|
@ -291,7 +295,7 @@ void PoseGraph::ComputeConstraintsForNode(
|
|||
}
|
||||
}
|
||||
|
||||
void PoseGraph::DispatchOptimization() {
|
||||
void PoseGraph2D::DispatchOptimization() {
|
||||
run_loop_closure_ = true;
|
||||
// If there is a 'work_queue_' already, some other thread will take care.
|
||||
if (work_queue_ == nullptr) {
|
||||
|
|
@ -299,12 +303,12 @@ void PoseGraph::DispatchOptimization() {
|
|||
HandleWorkQueue();
|
||||
}
|
||||
}
|
||||
common::Time PoseGraph::GetLatestNodeTime(
|
||||
const mapping::NodeId& node_id, const mapping::SubmapId& submap_id) const {
|
||||
common::Time PoseGraph2D::GetLatestNodeTime(const NodeId& node_id,
|
||||
const SubmapId& submap_id) const {
|
||||
common::Time time = trajectory_nodes_.at(node_id).constant_data->time;
|
||||
const SubmapData& submap_data = submap_data_.at(submap_id);
|
||||
if (!submap_data.node_ids.empty()) {
|
||||
const mapping::NodeId last_submap_node_id =
|
||||
const NodeId last_submap_node_id =
|
||||
*submap_data_.at(submap_id).node_ids.rbegin();
|
||||
time = std::max(
|
||||
time, trajectory_nodes_.at(last_submap_node_id).constant_data->time);
|
||||
|
|
@ -312,8 +316,8 @@ common::Time PoseGraph::GetLatestNodeTime(
|
|||
return time;
|
||||
}
|
||||
|
||||
void PoseGraph::UpdateTrajectoryConnectivity(const Constraint& constraint) {
|
||||
CHECK_EQ(constraint.tag, mapping::PoseGraph::Constraint::INTER_SUBMAP);
|
||||
void PoseGraph2D::UpdateTrajectoryConnectivity(const Constraint& constraint) {
|
||||
CHECK_EQ(constraint.tag, PoseGraph::Constraint::INTER_SUBMAP);
|
||||
const common::Time time =
|
||||
GetLatestNodeTime(constraint.node_id, constraint.submap_id);
|
||||
trajectory_connectivity_state_.Connect(constraint.node_id.trajectory_id,
|
||||
|
|
@ -321,9 +325,9 @@ void PoseGraph::UpdateTrajectoryConnectivity(const Constraint& constraint) {
|
|||
time);
|
||||
}
|
||||
|
||||
void PoseGraph::HandleWorkQueue() {
|
||||
void PoseGraph2D::HandleWorkQueue() {
|
||||
constraint_builder_.WhenDone(
|
||||
[this](const pose_graph::ConstraintBuilder::Result& result) {
|
||||
[this](const mapping_2d::pose_graph::ConstraintBuilder::Result& result) {
|
||||
{
|
||||
common::MutexLocker locker(&mutex_);
|
||||
constraints_.insert(constraints_.end(), result.begin(), result.end());
|
||||
|
|
@ -339,11 +343,10 @@ void PoseGraph::HandleWorkQueue() {
|
|||
trimmer->Trim(&trimming_handle);
|
||||
}
|
||||
trimmers_.erase(
|
||||
std::remove_if(
|
||||
trimmers_.begin(), trimmers_.end(),
|
||||
[](std::unique_ptr<mapping::PoseGraphTrimmer>& trimmer) {
|
||||
return trimmer->IsFinished();
|
||||
}),
|
||||
std::remove_if(trimmers_.begin(), trimmers_.end(),
|
||||
[](std::unique_ptr<PoseGraphTrimmer>& trimmer) {
|
||||
return trimmer->IsFinished();
|
||||
}),
|
||||
trimmers_.end());
|
||||
|
||||
num_nodes_since_last_loop_closure_ = 0;
|
||||
|
|
@ -362,7 +365,7 @@ void PoseGraph::HandleWorkQueue() {
|
|||
});
|
||||
}
|
||||
|
||||
void PoseGraph::WaitForAllComputations() {
|
||||
void PoseGraph2D::WaitForAllComputations() {
|
||||
bool notification = false;
|
||||
common::MutexLocker locker(&mutex_);
|
||||
const int num_finished_nodes_at_start =
|
||||
|
|
@ -385,8 +388,8 @@ void PoseGraph::WaitForAllComputations() {
|
|||
}
|
||||
std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
|
||||
constraint_builder_.WhenDone(
|
||||
[this,
|
||||
¬ification](const pose_graph::ConstraintBuilder::Result& result) {
|
||||
[this, ¬ification](
|
||||
const mapping_2d::pose_graph::ConstraintBuilder::Result& result) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
constraints_.insert(constraints_.end(), result.begin(), result.end());
|
||||
notification = true;
|
||||
|
|
@ -394,7 +397,7 @@ void PoseGraph::WaitForAllComputations() {
|
|||
locker.Await([¬ification]() { return notification; });
|
||||
}
|
||||
|
||||
void PoseGraph::FinishTrajectory(const int trajectory_id) {
|
||||
void PoseGraph2D::FinishTrajectory(const int trajectory_id) {
|
||||
AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) {
|
||||
CHECK_EQ(finished_trajectories_.count(trajectory_id), 0);
|
||||
finished_trajectories_.insert(trajectory_id);
|
||||
|
|
@ -407,11 +410,11 @@ void PoseGraph::FinishTrajectory(const int trajectory_id) {
|
|||
});
|
||||
}
|
||||
|
||||
bool PoseGraph::IsTrajectoryFinished(const int trajectory_id) {
|
||||
bool PoseGraph2D::IsTrajectoryFinished(const int trajectory_id) {
|
||||
return finished_trajectories_.count(trajectory_id) > 0;
|
||||
}
|
||||
|
||||
void PoseGraph::FreezeTrajectory(const int trajectory_id) {
|
||||
void PoseGraph2D::FreezeTrajectory(const int trajectory_id) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
trajectory_connectivity_state_.Add(trajectory_id);
|
||||
AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) {
|
||||
|
|
@ -420,16 +423,16 @@ void PoseGraph::FreezeTrajectory(const int trajectory_id) {
|
|||
});
|
||||
}
|
||||
|
||||
void PoseGraph::AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
|
||||
const mapping::proto::Submap& submap) {
|
||||
void PoseGraph2D::AddSubmapFromProto(
|
||||
const transform::Rigid3d& global_submap_pose, const proto::Submap& submap) {
|
||||
if (!submap.has_submap_2d()) {
|
||||
return;
|
||||
}
|
||||
|
||||
const mapping::SubmapId submap_id = {submap.submap_id().trajectory_id(),
|
||||
submap.submap_id().submap_index()};
|
||||
std::shared_ptr<const Submap> submap_ptr =
|
||||
std::make_shared<const Submap>(submap.submap_2d());
|
||||
const SubmapId submap_id = {submap.submap_id().trajectory_id(),
|
||||
submap.submap_id().submap_index()};
|
||||
std::shared_ptr<const mapping_2d::Submap> submap_ptr =
|
||||
std::make_shared<const mapping_2d::Submap>(submap.submap_2d());
|
||||
const transform::Rigid2d global_submap_pose_2d =
|
||||
transform::Project2D(global_submap_pose);
|
||||
|
||||
|
|
@ -438,8 +441,8 @@ void PoseGraph::AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
|
|||
submap_data_.Insert(submap_id, SubmapData());
|
||||
submap_data_.at(submap_id).submap = submap_ptr;
|
||||
// Immediately show the submap at the 'global_submap_pose'.
|
||||
global_submap_poses_.Insert(submap_id,
|
||||
pose_graph::SubmapData{global_submap_pose_2d});
|
||||
global_submap_poses_.Insert(
|
||||
submap_id, mapping_2d::pose_graph::SubmapData{global_submap_pose_2d});
|
||||
AddWorkItem([this, submap_id, global_submap_pose_2d]() REQUIRES(mutex_) {
|
||||
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
|
||||
submap_data_.at(submap_id).state = SubmapState::kFinished;
|
||||
|
|
@ -447,18 +450,16 @@ void PoseGraph::AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
|
|||
});
|
||||
}
|
||||
|
||||
void PoseGraph::AddNodeFromProto(const transform::Rigid3d& global_pose,
|
||||
const mapping::proto::Node& node) {
|
||||
const mapping::NodeId node_id = {node.node_id().trajectory_id(),
|
||||
node.node_id().node_index()};
|
||||
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data =
|
||||
std::make_shared<const mapping::TrajectoryNode::Data>(
|
||||
mapping::FromProto(node.node_data()));
|
||||
void PoseGraph2D::AddNodeFromProto(const transform::Rigid3d& global_pose,
|
||||
const proto::Node& node) {
|
||||
const NodeId node_id = {node.node_id().trajectory_id(),
|
||||
node.node_id().node_index()};
|
||||
std::shared_ptr<const TrajectoryNode::Data> constant_data =
|
||||
std::make_shared<const TrajectoryNode::Data>(FromProto(node.node_data()));
|
||||
|
||||
common::MutexLocker locker(&mutex_);
|
||||
AddTrajectoryIfNeeded(node_id.trajectory_id);
|
||||
trajectory_nodes_.Insert(node_id,
|
||||
mapping::TrajectoryNode{constant_data, global_pose});
|
||||
trajectory_nodes_.Insert(node_id, TrajectoryNode{constant_data, global_pose});
|
||||
|
||||
AddWorkItem([this, node_id, global_pose]() REQUIRES(mutex_) {
|
||||
CHECK_EQ(frozen_trajectories_.count(node_id.trajectory_id), 1);
|
||||
|
|
@ -474,20 +475,20 @@ void PoseGraph::AddNodeFromProto(const transform::Rigid3d& global_pose,
|
|||
});
|
||||
}
|
||||
|
||||
void PoseGraph::SetTrajectoryDataFromProto(
|
||||
const mapping::proto::TrajectoryData& data) {
|
||||
void PoseGraph2D::SetTrajectoryDataFromProto(
|
||||
const proto::TrajectoryData& data) {
|
||||
// Not implemented yet in 2D.
|
||||
}
|
||||
|
||||
void PoseGraph::AddNodeToSubmap(const mapping::NodeId& node_id,
|
||||
const mapping::SubmapId& submap_id) {
|
||||
void PoseGraph2D::AddNodeToSubmap(const NodeId& node_id,
|
||||
const SubmapId& submap_id) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
AddWorkItem([this, node_id, submap_id]() REQUIRES(mutex_) {
|
||||
submap_data_.at(submap_id).node_ids.insert(node_id);
|
||||
});
|
||||
}
|
||||
|
||||
void PoseGraph::AddSerializedConstraints(
|
||||
void PoseGraph2D::AddSerializedConstraints(
|
||||
const std::vector<Constraint>& constraints) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
AddWorkItem([this, constraints]() REQUIRES(mutex_) {
|
||||
|
|
@ -519,15 +520,15 @@ void PoseGraph::AddSerializedConstraints(
|
|||
});
|
||||
}
|
||||
|
||||
void PoseGraph::AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) {
|
||||
void PoseGraph2D::AddTrimmer(std::unique_ptr<PoseGraphTrimmer> trimmer) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
// C++11 does not allow us to move a unique_ptr into a lambda.
|
||||
mapping::PoseGraphTrimmer* const trimmer_ptr = trimmer.release();
|
||||
PoseGraphTrimmer* const trimmer_ptr = trimmer.release();
|
||||
AddWorkItem([this, trimmer_ptr]()
|
||||
REQUIRES(mutex_) { trimmers_.emplace_back(trimmer_ptr); });
|
||||
}
|
||||
|
||||
void PoseGraph::RunFinalOptimization() {
|
||||
void PoseGraph2D::RunFinalOptimization() {
|
||||
{
|
||||
common::MutexLocker locker(&mutex_);
|
||||
AddWorkItem([this]() REQUIRES(mutex_) {
|
||||
|
|
@ -545,7 +546,7 @@ void PoseGraph::RunFinalOptimization() {
|
|||
WaitForAllComputations();
|
||||
}
|
||||
|
||||
void PoseGraph::RunOptimization() {
|
||||
void PoseGraph2D::RunOptimization() {
|
||||
if (optimization_problem_.submap_data().empty()) {
|
||||
return;
|
||||
}
|
||||
|
|
@ -578,7 +579,7 @@ void PoseGraph::RunOptimization() {
|
|||
const transform::Rigid3d old_global_to_new_global =
|
||||
local_to_new_global * local_to_old_global.inverse();
|
||||
|
||||
const mapping::NodeId last_optimized_node_id =
|
||||
const NodeId last_optimized_node_id =
|
||||
std::prev(node_data.EndOfTrajectory(trajectory_id))->id;
|
||||
auto node_it = std::next(trajectory_nodes_.find(last_optimized_node_id));
|
||||
for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id);
|
||||
|
|
@ -594,26 +595,24 @@ void PoseGraph::RunOptimization() {
|
|||
global_submap_poses_ = submap_data;
|
||||
}
|
||||
|
||||
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode>
|
||||
PoseGraph::GetTrajectoryNodes() {
|
||||
MapById<NodeId, TrajectoryNode> PoseGraph2D::GetTrajectoryNodes() {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
return trajectory_nodes_;
|
||||
}
|
||||
|
||||
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose>
|
||||
PoseGraph::GetTrajectoryNodePoses() {
|
||||
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose> node_poses;
|
||||
MapById<NodeId, TrajectoryNodePose> PoseGraph2D::GetTrajectoryNodePoses() {
|
||||
MapById<NodeId, TrajectoryNodePose> node_poses;
|
||||
common::MutexLocker locker(&mutex_);
|
||||
for (const auto& node_id_data : trajectory_nodes_) {
|
||||
node_poses.Insert(
|
||||
node_id_data.id,
|
||||
mapping::TrajectoryNodePose{node_id_data.data.constant_data != nullptr,
|
||||
node_id_data.data.global_pose});
|
||||
TrajectoryNodePose{node_id_data.data.constant_data != nullptr,
|
||||
node_id_data.data.global_pose});
|
||||
}
|
||||
return node_poses;
|
||||
}
|
||||
|
||||
std::map<std::string, transform::Rigid3d> PoseGraph::GetLandmarkPoses() {
|
||||
std::map<std::string, transform::Rigid3d> PoseGraph2D::GetLandmarkPoses() {
|
||||
std::map<std::string, transform::Rigid3d> landmark_poses;
|
||||
for (const auto& landmark : landmark_nodes_) {
|
||||
// Landmark without value has not been optimized yet.
|
||||
|
|
@ -624,27 +623,27 @@ std::map<std::string, transform::Rigid3d> PoseGraph::GetLandmarkPoses() {
|
|||
return landmark_poses;
|
||||
}
|
||||
|
||||
sensor::MapByTime<sensor::ImuData> PoseGraph::GetImuData() {
|
||||
sensor::MapByTime<sensor::ImuData> PoseGraph2D::GetImuData() {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
return optimization_problem_.imu_data();
|
||||
}
|
||||
|
||||
sensor::MapByTime<sensor::OdometryData> PoseGraph::GetOdometryData() {
|
||||
sensor::MapByTime<sensor::OdometryData> PoseGraph2D::GetOdometryData() {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
return optimization_problem_.odometry_data();
|
||||
}
|
||||
|
||||
std::map<int, mapping::PoseGraphInterface::TrajectoryData>
|
||||
PoseGraph::GetTrajectoryData() {
|
||||
std::map<int, PoseGraphInterface::TrajectoryData>
|
||||
PoseGraph2D::GetTrajectoryData() {
|
||||
return {}; // Not implemented yet in 2D.
|
||||
}
|
||||
|
||||
sensor::MapByTime<sensor::FixedFramePoseData>
|
||||
PoseGraph::GetFixedFramePoseData() {
|
||||
PoseGraph2D::GetFixedFramePoseData() {
|
||||
return {}; // Not implemented yet in 2D.
|
||||
}
|
||||
|
||||
std::vector<PoseGraph::Constraint> PoseGraph::constraints() {
|
||||
std::vector<PoseGraph2D::Constraint> PoseGraph2D::constraints() {
|
||||
std::vector<Constraint> result;
|
||||
common::MutexLocker locker(&mutex_);
|
||||
for (const Constraint& constraint : constraints_) {
|
||||
|
|
@ -661,16 +660,16 @@ std::vector<PoseGraph::Constraint> PoseGraph::constraints() {
|
|||
return result;
|
||||
}
|
||||
|
||||
void PoseGraph::SetInitialTrajectoryPose(const int from_trajectory_id,
|
||||
const int to_trajectory_id,
|
||||
const transform::Rigid3d& pose,
|
||||
const common::Time time) {
|
||||
void PoseGraph2D::SetInitialTrajectoryPose(const int from_trajectory_id,
|
||||
const int to_trajectory_id,
|
||||
const transform::Rigid3d& pose,
|
||||
const common::Time time) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
initial_trajectory_poses_[from_trajectory_id] =
|
||||
InitialTrajectoryPose{to_trajectory_id, pose, time};
|
||||
}
|
||||
|
||||
transform::Rigid3d PoseGraph::GetInterpolatedGlobalTrajectoryPose(
|
||||
transform::Rigid3d PoseGraph2D::GetInterpolatedGlobalTrajectoryPose(
|
||||
const int trajectory_id, const common::Time time) const {
|
||||
CHECK(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id) > 0);
|
||||
const auto it = trajectory_nodes_.lower_bound(trajectory_id, time);
|
||||
|
|
@ -690,27 +689,25 @@ transform::Rigid3d PoseGraph::GetInterpolatedGlobalTrajectoryPose(
|
|||
.transform;
|
||||
}
|
||||
|
||||
transform::Rigid3d PoseGraph::GetLocalToGlobalTransform(
|
||||
transform::Rigid3d PoseGraph2D::GetLocalToGlobalTransform(
|
||||
const int trajectory_id) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
return ComputeLocalToGlobalTransform(global_submap_poses_, trajectory_id);
|
||||
}
|
||||
|
||||
std::vector<std::vector<int>> PoseGraph::GetConnectedTrajectories() {
|
||||
std::vector<std::vector<int>> PoseGraph2D::GetConnectedTrajectories() {
|
||||
return trajectory_connectivity_state_.Components();
|
||||
}
|
||||
|
||||
mapping::PoseGraph::SubmapData PoseGraph::GetSubmapData(
|
||||
const mapping::SubmapId& submap_id) {
|
||||
PoseGraph::SubmapData PoseGraph2D::GetSubmapData(const SubmapId& submap_id) {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
return GetSubmapDataUnderLock(submap_id);
|
||||
}
|
||||
|
||||
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapData>
|
||||
PoseGraph::GetAllSubmapData() {
|
||||
MapById<SubmapId, PoseGraphInterface::SubmapData>
|
||||
PoseGraph2D::GetAllSubmapData() {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapData>
|
||||
submaps;
|
||||
MapById<SubmapId, PoseGraphInterface::SubmapData> submaps;
|
||||
for (const auto& submap_id_data : submap_data_) {
|
||||
submaps.Insert(submap_id_data.id,
|
||||
GetSubmapDataUnderLock(submap_id_data.id));
|
||||
|
|
@ -718,22 +715,22 @@ PoseGraph::GetAllSubmapData() {
|
|||
return submaps;
|
||||
}
|
||||
|
||||
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapPose>
|
||||
PoseGraph::GetAllSubmapPoses() {
|
||||
MapById<SubmapId, PoseGraphInterface::SubmapPose>
|
||||
PoseGraph2D::GetAllSubmapPoses() {
|
||||
common::MutexLocker locker(&mutex_);
|
||||
mapping::MapById<mapping::SubmapId, SubmapPose> submap_poses;
|
||||
MapById<SubmapId, SubmapPose> submap_poses;
|
||||
for (const auto& submap_id_data : submap_data_) {
|
||||
auto submap_data = GetSubmapDataUnderLock(submap_id_data.id);
|
||||
submap_poses.Insert(
|
||||
submap_id_data.id,
|
||||
mapping::PoseGraph::SubmapPose{submap_data.submap->num_range_data(),
|
||||
submap_data.pose});
|
||||
PoseGraph::SubmapPose{submap_data.submap->num_range_data(),
|
||||
submap_data.pose});
|
||||
}
|
||||
return submap_poses;
|
||||
}
|
||||
|
||||
transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform(
|
||||
const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>&
|
||||
transform::Rigid3d PoseGraph2D::ComputeLocalToGlobalTransform(
|
||||
const MapById<SubmapId, mapping_2d::pose_graph::SubmapData>&
|
||||
global_submap_poses,
|
||||
const int trajectory_id) const {
|
||||
auto begin_it = global_submap_poses.BeginOfTrajectory(trajectory_id);
|
||||
|
|
@ -748,7 +745,7 @@ transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform(
|
|||
return transform::Rigid3d::Identity();
|
||||
}
|
||||
}
|
||||
const mapping::SubmapId last_optimized_submap_id = std::prev(end_it)->id;
|
||||
const SubmapId last_optimized_submap_id = std::prev(end_it)->id;
|
||||
// Accessing 'local_pose' in Submap is okay, since the member is const.
|
||||
return transform::Embed3D(
|
||||
global_submap_poses.at(last_optimized_submap_id).global_pose) *
|
||||
|
|
@ -757,8 +754,8 @@ transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform(
|
|||
.inverse();
|
||||
}
|
||||
|
||||
mapping::PoseGraph::SubmapData PoseGraph::GetSubmapDataUnderLock(
|
||||
const mapping::SubmapId& submap_id) {
|
||||
PoseGraph::SubmapData PoseGraph2D::GetSubmapDataUnderLock(
|
||||
const SubmapId& submap_id) {
|
||||
const auto it = submap_data_.find(submap_id);
|
||||
if (it == submap_data_.end()) {
|
||||
return {};
|
||||
|
|
@ -775,27 +772,27 @@ mapping::PoseGraph::SubmapData PoseGraph::GetSubmapDataUnderLock(
|
|||
submap->local_pose()};
|
||||
}
|
||||
|
||||
PoseGraph::TrimmingHandle::TrimmingHandle(PoseGraph* const parent)
|
||||
PoseGraph2D::TrimmingHandle::TrimmingHandle(PoseGraph2D* const parent)
|
||||
: parent_(parent) {}
|
||||
|
||||
int PoseGraph::TrimmingHandle::num_submaps(const int trajectory_id) const {
|
||||
int PoseGraph2D::TrimmingHandle::num_submaps(const int trajectory_id) const {
|
||||
const auto& submap_data = parent_->optimization_problem_.submap_data();
|
||||
return submap_data.SizeOfTrajectoryOrZero(trajectory_id);
|
||||
}
|
||||
|
||||
bool PoseGraph::TrimmingHandle::IsFinished(const int trajectory_id) const {
|
||||
bool PoseGraph2D::TrimmingHandle::IsFinished(const int trajectory_id) const {
|
||||
return parent_->IsTrajectoryFinished(trajectory_id);
|
||||
}
|
||||
|
||||
void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
|
||||
const mapping::SubmapId& submap_id) {
|
||||
void PoseGraph2D::TrimmingHandle::MarkSubmapAsTrimmed(
|
||||
const SubmapId& submap_id) {
|
||||
// TODO(hrapp): We have to make sure that the trajectory has been finished
|
||||
// if we want to delete the last submaps.
|
||||
CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished);
|
||||
|
||||
// Compile all nodes that are still INTRA_SUBMAP constrained once the submap
|
||||
// with 'submap_id' is gone.
|
||||
std::set<mapping::NodeId> nodes_to_retain;
|
||||
std::set<NodeId> nodes_to_retain;
|
||||
for (const Constraint& constraint : parent_->constraints_) {
|
||||
if (constraint.tag == Constraint::Tag::INTRA_SUBMAP &&
|
||||
constraint.submap_id != submap_id) {
|
||||
|
|
@ -803,7 +800,7 @@ void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
|
|||
}
|
||||
}
|
||||
// Remove all 'constraints_' related to 'submap_id'.
|
||||
std::set<mapping::NodeId> nodes_to_remove;
|
||||
std::set<NodeId> nodes_to_remove;
|
||||
{
|
||||
std::vector<Constraint> constraints;
|
||||
for (const Constraint& constraint : parent_->constraints_) {
|
||||
|
|
@ -839,11 +836,11 @@ void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
|
|||
|
||||
// Remove the 'nodes_to_remove' from the pose graph and the optimization
|
||||
// problem.
|
||||
for (const mapping::NodeId& node_id : nodes_to_remove) {
|
||||
for (const NodeId& node_id : nodes_to_remove) {
|
||||
parent_->trajectory_nodes_.Trim(node_id);
|
||||
parent_->optimization_problem_.TrimTrajectoryNode(node_id);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace mapping_2d
|
||||
} // namespace mapping
|
||||
} // namespace cartographer
|
||||
|
|
@ -14,8 +14,8 @@
|
|||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_H_
|
||||
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_H_
|
||||
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_2D_H_
|
||||
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_2D_H_
|
||||
|
||||
#include <deque>
|
||||
#include <functional>
|
||||
|
|
@ -46,7 +46,7 @@
|
|||
#include "cartographer/transform/transform.h"
|
||||
|
||||
namespace cartographer {
|
||||
namespace mapping_2d {
|
||||
namespace mapping {
|
||||
|
||||
// Implements the loop closure method called Sparse Pose Adjustment (SPA) from
|
||||
// Konolige, Kurt, et al. "Efficient sparse pose adjustment for 2d mapping."
|
||||
|
|
@ -57,25 +57,24 @@ namespace mapping_2d {
|
|||
// Each node has been matched against one or more submaps (adding a constraint
|
||||
// for each match), both poses of nodes and of submaps are to be optimized.
|
||||
// All constraints are between a submap i and a node j.
|
||||
class PoseGraph : public mapping::PoseGraph {
|
||||
class PoseGraph2D : public PoseGraph {
|
||||
public:
|
||||
PoseGraph(const mapping::proto::PoseGraphOptions& options,
|
||||
common::ThreadPool* thread_pool);
|
||||
~PoseGraph() override;
|
||||
PoseGraph2D(const proto::PoseGraphOptions& options,
|
||||
common::ThreadPool* thread_pool);
|
||||
~PoseGraph2D() override;
|
||||
|
||||
PoseGraph(const PoseGraph&) = delete;
|
||||
PoseGraph& operator=(const PoseGraph&) = delete;
|
||||
PoseGraph2D(const PoseGraph2D&) = delete;
|
||||
PoseGraph2D& operator=(const PoseGraph2D&) = delete;
|
||||
|
||||
// Adds a new node with 'constant_data'. Its 'constant_data->local_pose' was
|
||||
// determined by scan matching against 'insertion_submaps.front()' and the
|
||||
// node data was inserted into the 'insertion_submaps'. If
|
||||
// 'insertion_submaps.front().finished()' is 'true', data was inserted into
|
||||
// this submap for the last time.
|
||||
mapping::NodeId AddNode(
|
||||
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
|
||||
int trajectory_id,
|
||||
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps)
|
||||
EXCLUDES(mutex_);
|
||||
NodeId AddNode(std::shared_ptr<const TrajectoryNode::Data> constant_data,
|
||||
int trajectory_id,
|
||||
const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
|
||||
insertion_submaps) EXCLUDES(mutex_);
|
||||
|
||||
void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override
|
||||
EXCLUDES(mutex_);
|
||||
|
|
@ -94,30 +93,28 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
bool IsTrajectoryFinished(int trajectory_id) override;
|
||||
void FreezeTrajectory(int trajectory_id) override;
|
||||
void AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
|
||||
const mapping::proto::Submap& submap) override;
|
||||
const proto::Submap& submap) override;
|
||||
void AddNodeFromProto(const transform::Rigid3d& global_pose,
|
||||
const mapping::proto::Node& node) override;
|
||||
void SetTrajectoryDataFromProto(
|
||||
const mapping::proto::TrajectoryData& data) override;
|
||||
void AddNodeToSubmap(const mapping::NodeId& node_id,
|
||||
const mapping::SubmapId& submap_id) override;
|
||||
const proto::Node& node) override;
|
||||
void SetTrajectoryDataFromProto(const proto::TrajectoryData& data) override;
|
||||
void AddNodeToSubmap(const NodeId& node_id,
|
||||
const SubmapId& submap_id) override;
|
||||
void AddSerializedConstraints(
|
||||
const std::vector<Constraint>& constraints) override;
|
||||
void AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) override;
|
||||
void AddTrimmer(std::unique_ptr<PoseGraphTrimmer> trimmer) override;
|
||||
void RunFinalOptimization() override;
|
||||
std::vector<std::vector<int>> GetConnectedTrajectories() override;
|
||||
mapping::PoseGraph::SubmapData GetSubmapData(
|
||||
const mapping::SubmapId& submap_id) EXCLUDES(mutex_) override;
|
||||
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapData>
|
||||
GetAllSubmapData() EXCLUDES(mutex_) override;
|
||||
mapping::MapById<mapping::SubmapId, SubmapPose> GetAllSubmapPoses()
|
||||
PoseGraph::SubmapData GetSubmapData(const SubmapId& submap_id)
|
||||
EXCLUDES(mutex_) override;
|
||||
MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
|
||||
EXCLUDES(mutex_) override;
|
||||
MapById<SubmapId, SubmapPose> GetAllSubmapPoses() EXCLUDES(mutex_) override;
|
||||
transform::Rigid3d GetLocalToGlobalTransform(int trajectory_id)
|
||||
EXCLUDES(mutex_) override;
|
||||
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode>
|
||||
GetTrajectoryNodes() override EXCLUDES(mutex_);
|
||||
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose>
|
||||
GetTrajectoryNodePoses() override EXCLUDES(mutex_);
|
||||
MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() override
|
||||
EXCLUDES(mutex_);
|
||||
MapById<NodeId, TrajectoryNodePose> GetTrajectoryNodePoses() override
|
||||
EXCLUDES(mutex_);
|
||||
std::map<std::string, transform::Rigid3d> GetLandmarkPoses() override
|
||||
EXCLUDES(mutex_);
|
||||
sensor::MapByTime<sensor::ImuData> GetImuData() override EXCLUDES(mutex_);
|
||||
|
|
@ -140,12 +137,12 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
// Likewise, all new nodes are matched against submaps which are finished.
|
||||
enum class SubmapState { kActive, kFinished };
|
||||
struct SubmapData {
|
||||
std::shared_ptr<const Submap> submap;
|
||||
std::shared_ptr<const mapping_2d::Submap> submap;
|
||||
|
||||
// IDs of the nodes that were inserted into this map together with
|
||||
// constraints for them. They are not to be matched again when this submap
|
||||
// becomes 'finished'.
|
||||
std::set<mapping::NodeId> node_ids;
|
||||
std::set<NodeId> node_ids;
|
||||
|
||||
SubmapState state = SubmapState::kActive;
|
||||
};
|
||||
|
|
@ -158,23 +155,23 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
|
||||
// Grows the optimization problem to have an entry for every element of
|
||||
// 'insertion_submaps'. Returns the IDs for the 'insertion_submaps'.
|
||||
std::vector<mapping::SubmapId> InitializeGlobalSubmapPoses(
|
||||
std::vector<SubmapId> InitializeGlobalSubmapPoses(
|
||||
int trajectory_id, const common::Time time,
|
||||
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps)
|
||||
REQUIRES(mutex_);
|
||||
const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
|
||||
insertion_submaps) REQUIRES(mutex_);
|
||||
|
||||
// Adds constraints for a node, and starts scan matching in the background.
|
||||
void ComputeConstraintsForNode(
|
||||
const mapping::NodeId& node_id,
|
||||
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
|
||||
const NodeId& node_id,
|
||||
std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps,
|
||||
bool newly_finished_submap) REQUIRES(mutex_);
|
||||
|
||||
// Computes constraints for a node and submap pair.
|
||||
void ComputeConstraint(const mapping::NodeId& node_id,
|
||||
const mapping::SubmapId& submap_id) REQUIRES(mutex_);
|
||||
void ComputeConstraint(const NodeId& node_id, const SubmapId& submap_id)
|
||||
REQUIRES(mutex_);
|
||||
|
||||
// Adds constraints for older nodes whenever a new submap is finished.
|
||||
void ComputeConstraintsForOldNodes(const mapping::SubmapId& submap_id)
|
||||
void ComputeConstraintsForOldNodes(const SubmapId& submap_id)
|
||||
REQUIRES(mutex_);
|
||||
|
||||
// Registers the callback to run the optimization once all constraints have
|
||||
|
|
@ -192,22 +189,22 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
// Computes the local to global map frame transform based on the given
|
||||
// 'global_submap_poses'.
|
||||
transform::Rigid3d ComputeLocalToGlobalTransform(
|
||||
const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>&
|
||||
const MapById<SubmapId, mapping_2d::pose_graph::SubmapData>&
|
||||
global_submap_poses,
|
||||
int trajectory_id) const REQUIRES(mutex_);
|
||||
|
||||
mapping::PoseGraph::SubmapData GetSubmapDataUnderLock(
|
||||
const mapping::SubmapId& submap_id) REQUIRES(mutex_);
|
||||
PoseGraph::SubmapData GetSubmapDataUnderLock(const SubmapId& submap_id)
|
||||
REQUIRES(mutex_);
|
||||
|
||||
common::Time GetLatestNodeTime(const mapping::NodeId& node_id,
|
||||
const mapping::SubmapId& submap_id) const
|
||||
common::Time GetLatestNodeTime(const NodeId& node_id,
|
||||
const SubmapId& submap_id) const
|
||||
REQUIRES(mutex_);
|
||||
|
||||
// Updates the trajectory connectivity structure with a new constraint.
|
||||
void UpdateTrajectoryConnectivity(const Constraint& constraint)
|
||||
REQUIRES(mutex_);
|
||||
|
||||
const mapping::proto::PoseGraphOptions options_;
|
||||
const proto::PoseGraphOptions options_;
|
||||
common::Mutex mutex_;
|
||||
|
||||
// If it exists, further work items must be added to this queue, and will be
|
||||
|
|
@ -216,7 +213,7 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
GUARDED_BY(mutex_);
|
||||
|
||||
// How our various trajectories are related.
|
||||
mapping::TrajectoryConnectivityState trajectory_connectivity_state_;
|
||||
TrajectoryConnectivityState trajectory_connectivity_state_;
|
||||
|
||||
// We globally localize a fraction of the nodes from each trajectory.
|
||||
std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>>
|
||||
|
|
@ -232,31 +229,29 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
void DispatchOptimization() REQUIRES(mutex_);
|
||||
|
||||
// Current optimization problem.
|
||||
pose_graph::OptimizationProblem optimization_problem_;
|
||||
pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_);
|
||||
mapping_2d::pose_graph::OptimizationProblem optimization_problem_;
|
||||
mapping_2d::pose_graph::ConstraintBuilder constraint_builder_
|
||||
GUARDED_BY(mutex_);
|
||||
std::vector<Constraint> constraints_ GUARDED_BY(mutex_);
|
||||
|
||||
// Submaps get assigned an ID and state as soon as they are seen, even
|
||||
// before they take part in the background computations.
|
||||
mapping::MapById<mapping::SubmapId, SubmapData> submap_data_
|
||||
GUARDED_BY(mutex_);
|
||||
MapById<SubmapId, SubmapData> submap_data_ GUARDED_BY(mutex_);
|
||||
|
||||
// Data that are currently being shown.
|
||||
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode> trajectory_nodes_
|
||||
GUARDED_BY(mutex_);
|
||||
MapById<NodeId, TrajectoryNode> trajectory_nodes_ GUARDED_BY(mutex_);
|
||||
int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0;
|
||||
|
||||
// Global submap poses currently used for displaying data.
|
||||
mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>
|
||||
global_submap_poses_ GUARDED_BY(mutex_);
|
||||
MapById<SubmapId, mapping_2d::pose_graph::SubmapData> global_submap_poses_
|
||||
GUARDED_BY(mutex_);
|
||||
|
||||
// Global landmark poses with all observations.
|
||||
std::map<std::string /* landmark ID */, PoseGraph::LandmarkNode>
|
||||
landmark_nodes_ GUARDED_BY(mutex_);
|
||||
|
||||
// List of all trimmers to consult when optimizations finish.
|
||||
std::vector<std::unique_ptr<mapping::PoseGraphTrimmer>> trimmers_
|
||||
GUARDED_BY(mutex_);
|
||||
std::vector<std::unique_ptr<PoseGraphTrimmer>> trimmers_ GUARDED_BY(mutex_);
|
||||
|
||||
// Set of all frozen trajectories not being optimized.
|
||||
std::set<int> frozen_trajectories_ GUARDED_BY(mutex_);
|
||||
|
|
@ -270,22 +265,22 @@ class PoseGraph : public mapping::PoseGraph {
|
|||
|
||||
// Allows querying and manipulating the pose graph by the 'trimmers_'. The
|
||||
// 'mutex_' of the pose graph is held while this class is used.
|
||||
class TrimmingHandle : public mapping::Trimmable {
|
||||
class TrimmingHandle : public Trimmable {
|
||||
public:
|
||||
TrimmingHandle(PoseGraph* parent);
|
||||
TrimmingHandle(PoseGraph2D* parent);
|
||||
~TrimmingHandle() override {}
|
||||
|
||||
int num_submaps(int trajectory_id) const override;
|
||||
void MarkSubmapAsTrimmed(const mapping::SubmapId& submap_id)
|
||||
void MarkSubmapAsTrimmed(const SubmapId& submap_id)
|
||||
REQUIRES(parent_->mutex_) override;
|
||||
bool IsFinished(int trajectory_id) const override;
|
||||
|
||||
private:
|
||||
PoseGraph* const parent_;
|
||||
PoseGraph2D* const parent_;
|
||||
};
|
||||
};
|
||||
|
||||
} // namespace mapping_2d
|
||||
} // namespace mapping
|
||||
} // namespace cartographer
|
||||
|
||||
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_H_
|
||||
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_2D_H_
|
||||
|
|
@ -14,7 +14,7 @@
|
|||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "cartographer/mapping_2d/pose_graph.h"
|
||||
#include "cartographer/mapping_2d/pose_graph_2d.h"
|
||||
|
||||
#include <cmath>
|
||||
#include <memory>
|
||||
|
|
@ -32,12 +32,12 @@
|
|||
#include "gmock/gmock.h"
|
||||
|
||||
namespace cartographer {
|
||||
namespace mapping_2d {
|
||||
namespace mapping {
|
||||
namespace {
|
||||
|
||||
class PoseGraphTest : public ::testing::Test {
|
||||
class PoseGraph2DTest : public ::testing::Test {
|
||||
protected:
|
||||
PoseGraphTest() : thread_pool_(1) {
|
||||
PoseGraph2DTest() : thread_pool_(1) {
|
||||
// Builds a wavy, irregularly circular point cloud that is unique
|
||||
// rotationally. This gives us good rotational texture and avoids any
|
||||
// possibility of the CeresScanMatcher preferring free space (>
|
||||
|
|
@ -58,8 +58,8 @@ class PoseGraphTest : public ::testing::Test {
|
|||
miss_probability = 0.495,
|
||||
},
|
||||
})text");
|
||||
active_submaps_ = common::make_unique<ActiveSubmaps>(
|
||||
CreateSubmapsOptions(parameter_dictionary.get()));
|
||||
active_submaps_ = common::make_unique<mapping_2d::ActiveSubmaps>(
|
||||
mapping_2d::CreateSubmapsOptions(parameter_dictionary.get()));
|
||||
}
|
||||
|
||||
{
|
||||
|
|
@ -132,9 +132,8 @@ class PoseGraphTest : public ::testing::Test {
|
|||
log_residual_histograms = true,
|
||||
global_constraint_search_after_n_seconds = 10.0,
|
||||
})text");
|
||||
pose_graph_ = common::make_unique<PoseGraph>(
|
||||
mapping::CreatePoseGraphOptions(parameter_dictionary.get()),
|
||||
&thread_pool_);
|
||||
pose_graph_ = common::make_unique<PoseGraph2D>(
|
||||
CreatePoseGraphOptions(parameter_dictionary.get()), &thread_pool_);
|
||||
}
|
||||
|
||||
current_pose_ = transform::Rigid2d::Identity();
|
||||
|
|
@ -146,7 +145,7 @@ class PoseGraphTest : public ::testing::Test {
|
|||
const sensor::PointCloud new_point_cloud = sensor::TransformPointCloud(
|
||||
point_cloud_,
|
||||
transform::Embed3D(current_pose_.inverse().cast<float>()));
|
||||
std::vector<std::shared_ptr<const Submap>> insertion_submaps;
|
||||
std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps;
|
||||
for (const auto& submap : active_submaps_->submaps()) {
|
||||
insertion_submaps.push_back(submap);
|
||||
}
|
||||
|
|
@ -158,14 +157,14 @@ class PoseGraphTest : public ::testing::Test {
|
|||
range_data, transform::Embed3D(pose_estimate.cast<float>())));
|
||||
|
||||
pose_graph_->AddNode(
|
||||
std::make_shared<const mapping::TrajectoryNode::Data>(
|
||||
mapping::TrajectoryNode::Data{common::FromUniversal(0),
|
||||
Eigen::Quaterniond::Identity(),
|
||||
range_data.returns,
|
||||
{},
|
||||
{},
|
||||
{},
|
||||
transform::Embed3D(pose_estimate)}),
|
||||
std::make_shared<const TrajectoryNode::Data>(
|
||||
TrajectoryNode::Data{common::FromUniversal(0),
|
||||
Eigen::Quaterniond::Identity(),
|
||||
range_data.returns,
|
||||
{},
|
||||
{},
|
||||
{},
|
||||
transform::Embed3D(pose_estimate)}),
|
||||
kTrajectoryId, insertion_submaps);
|
||||
}
|
||||
|
||||
|
|
@ -179,19 +178,19 @@ class PoseGraphTest : public ::testing::Test {
|
|||
}
|
||||
|
||||
sensor::PointCloud point_cloud_;
|
||||
std::unique_ptr<ActiveSubmaps> active_submaps_;
|
||||
std::unique_ptr<mapping_2d::ActiveSubmaps> active_submaps_;
|
||||
common::ThreadPool thread_pool_;
|
||||
std::unique_ptr<PoseGraph> pose_graph_;
|
||||
std::unique_ptr<PoseGraph2D> pose_graph_;
|
||||
transform::Rigid2d current_pose_;
|
||||
};
|
||||
|
||||
TEST_F(PoseGraphTest, EmptyMap) {
|
||||
TEST_F(PoseGraph2DTest, EmptyMap) {
|
||||
pose_graph_->RunFinalOptimization();
|
||||
const auto nodes = pose_graph_->GetTrajectoryNodes();
|
||||
EXPECT_TRUE(nodes.empty());
|
||||
}
|
||||
|
||||
TEST_F(PoseGraphTest, NoMovement) {
|
||||
TEST_F(PoseGraph2DTest, NoMovement) {
|
||||
MoveRelative(transform::Rigid2d::Identity());
|
||||
MoveRelative(transform::Rigid2d::Identity());
|
||||
MoveRelative(transform::Rigid2d::Identity());
|
||||
|
|
@ -200,15 +199,15 @@ TEST_F(PoseGraphTest, NoMovement) {
|
|||
ASSERT_THAT(ToVectorInt(nodes.trajectory_ids()),
|
||||
::testing::ContainerEq(std::vector<int>{0}));
|
||||
EXPECT_THAT(nodes.SizeOfTrajectoryOrZero(0), ::testing::Eq(3u));
|
||||
EXPECT_THAT(nodes.at(mapping::NodeId{0, 0}).global_pose,
|
||||
EXPECT_THAT(nodes.at(NodeId{0, 0}).global_pose,
|
||||
transform::IsNearly(transform::Rigid3d::Identity(), 1e-2));
|
||||
EXPECT_THAT(nodes.at(mapping::NodeId{0, 1}).global_pose,
|
||||
EXPECT_THAT(nodes.at(NodeId{0, 1}).global_pose,
|
||||
transform::IsNearly(transform::Rigid3d::Identity(), 1e-2));
|
||||
EXPECT_THAT(nodes.at(mapping::NodeId{0, 2}).global_pose,
|
||||
EXPECT_THAT(nodes.at(NodeId{0, 2}).global_pose,
|
||||
transform::IsNearly(transform::Rigid3d::Identity(), 1e-2));
|
||||
}
|
||||
|
||||
TEST_F(PoseGraphTest, NoOverlappingNodes) {
|
||||
TEST_F(PoseGraph2DTest, NoOverlappingNodes) {
|
||||
std::mt19937 rng(0);
|
||||
std::uniform_real_distribution<double> distribution(-1., 1.);
|
||||
std::vector<transform::Rigid2d> poses;
|
||||
|
|
@ -221,15 +220,15 @@ TEST_F(PoseGraphTest, NoOverlappingNodes) {
|
|||
ASSERT_THAT(ToVectorInt(nodes.trajectory_ids()),
|
||||
::testing::ContainerEq(std::vector<int>{0}));
|
||||
for (int i = 0; i != 4; ++i) {
|
||||
EXPECT_THAT(poses[i],
|
||||
IsNearly(transform::Project2D(
|
||||
nodes.at(mapping::NodeId{0, i}).global_pose),
|
||||
1e-2))
|
||||
EXPECT_THAT(
|
||||
poses[i],
|
||||
IsNearly(transform::Project2D(nodes.at(NodeId{0, i}).global_pose),
|
||||
1e-2))
|
||||
<< i;
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(PoseGraphTest, ConsecutivelyOverlappingNodes) {
|
||||
TEST_F(PoseGraph2DTest, ConsecutivelyOverlappingNodes) {
|
||||
std::mt19937 rng(0);
|
||||
std::uniform_real_distribution<double> distribution(-1., 1.);
|
||||
std::vector<transform::Rigid2d> poses;
|
||||
|
|
@ -242,15 +241,15 @@ TEST_F(PoseGraphTest, ConsecutivelyOverlappingNodes) {
|
|||
ASSERT_THAT(ToVectorInt(nodes.trajectory_ids()),
|
||||
::testing::ContainerEq(std::vector<int>{0}));
|
||||
for (int i = 0; i != 5; ++i) {
|
||||
EXPECT_THAT(poses[i],
|
||||
IsNearly(transform::Project2D(
|
||||
nodes.at(mapping::NodeId{0, i}).global_pose),
|
||||
1e-2))
|
||||
EXPECT_THAT(
|
||||
poses[i],
|
||||
IsNearly(transform::Project2D(nodes.at(NodeId{0, i}).global_pose),
|
||||
1e-2))
|
||||
<< i;
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(PoseGraphTest, OverlappingNodes) {
|
||||
TEST_F(PoseGraph2DTest, OverlappingNodes) {
|
||||
std::mt19937 rng(0);
|
||||
std::uniform_real_distribution<double> distribution(-1., 1.);
|
||||
std::vector<transform::Rigid2d> ground_truth;
|
||||
|
|
@ -285,5 +284,5 @@ TEST_F(PoseGraphTest, OverlappingNodes) {
|
|||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mapping_2d
|
||||
} // namespace mapping
|
||||
} // namespace cartographer
|
||||
Loading…
Reference in New Issue