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Extract rotation parameterization to a separate file. (#479)

master
jie 2017-08-25 12:06:22 +02:00 committed by Wolfgang Hess
parent 96b71e227f
commit 449799719f
3 changed files with 69 additions and 44 deletions
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67
cartographer/mapping_3d/rotation_parameterization.h Normal file
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@ -0,0 +1,67 @@
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
#define CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
#include "cartographer/common/math.h"
#include "ceres/jet.h"
#include "ceres/rotation.h"
namespace cartographer {
namespace mapping_3d {
struct YawOnlyQuaternionPlus {
template <typename T>
bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
const T clamped_delta = common::Clamp(delta[0], T(-0.5), T(0.5));
T q_delta[4];
q_delta[0] = ceres::sqrt(1. - clamped_delta * clamped_delta);
q_delta[1] = T(0.);
q_delta[2] = T(0.);
q_delta[3] = clamped_delta;
ceres::QuaternionProduct(q_delta, x, x_plus_delta);
return true;
}
};
struct ConstantYawQuaternionPlus {
template <typename T>
bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
const T delta_norm =
ceres::sqrt(common::Pow2(delta[0]) + common::Pow2(delta[1]));
const T sin_delta_over_delta =
delta_norm < 1e-6 ? T(1.) : ceres::sin(delta_norm) / delta_norm;
T q_delta[4];
q_delta[0] = delta_norm < 1e-6 ? T(1.) : ceres::cos(delta_norm);
q_delta[1] = sin_delta_over_delta * delta[0];
q_delta[2] = sin_delta_over_delta * delta[1];
q_delta[3] = T(0.);
// We apply the 'delta' which is interpreted as an angle-axis rotation
// vector in the xy-plane of the submap frame. This way we can align to
// gravity because rotations around the z-axis in the submap frame do not
// change gravity alignment, while disallowing random rotations of the map
// that have nothing to do with gravity alignment (i.e. we disallow steps
// just changing "yaw" of the complete map).
ceres::QuaternionProduct(x, q_delta, x_plus_delta);
return true;
}
};
} // namespace mapping_3d
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_

18
cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc
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@ -23,6 +23,7 @@
#include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/mapping_3d/ceres_pose.h"
#include "cartographer/mapping_3d/rotation_parameterization.h"
#include "cartographer/mapping_3d/scan_matching/occupied_space_cost_functor.h"
#include "cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor.h"
#include "cartographer/mapping_3d/scan_matching/translation_delta_cost_functor.h"
@ -34,23 +35,6 @@
namespace cartographer {
namespace mapping_3d {
namespace scan_matching {
namespace {
struct YawOnlyQuaternionPlus {
template <typename T>
bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
const T clamped_delta = common::Clamp(delta[0], T(-0.5), T(0.5));
T q_delta[4];
q_delta[0] = ceres::sqrt(1. - clamped_delta * clamped_delta);
q_delta[1] = T(0.);
q_delta[2] = T(0.);
q_delta[3] = clamped_delta;
ceres::QuaternionProduct(q_delta, x, x_plus_delta);
return true;
}
};
} // namespace
proto::CeresScanMatcherOptions CreateCeresScanMatcherOptions(
common::LuaParameterDictionary* const parameter_dictionary) {

28
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
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@ -33,6 +33,7 @@
#include "cartographer/mapping_3d/ceres_pose.h"
#include "cartographer/mapping_3d/imu_integration.h"
#include "cartographer/mapping_3d/rotation_cost_function.h"
#include "cartographer/mapping_3d/rotation_parameterization.h"
#include "cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h"
#include "cartographer/transform/transform.h"
#include "ceres/ceres.h"
@ -44,33 +45,6 @@ namespace cartographer {
namespace mapping_3d {
namespace sparse_pose_graph {
namespace {
struct ConstantYawQuaternionPlus {
template <typename T>
bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
const T delta_norm =
ceres::sqrt(common::Pow2(delta[0]) + common::Pow2(delta[1]));
const T sin_delta_over_delta =
delta_norm < 1e-6 ? T(1.) : ceres::sin(delta_norm) / delta_norm;
T q_delta[4];
q_delta[0] = delta_norm < 1e-6 ? T(1.) : ceres::cos(delta_norm);
q_delta[1] = sin_delta_over_delta * delta[0];
q_delta[2] = sin_delta_over_delta * delta[1];
q_delta[3] = T(0.);
// We apply the 'delta' which is interpreted as an angle-axis rotation
// vector in the xy-plane of the submap frame. This way we can align to
// gravity because rotations around the z-axis in the submap frame do not
// change gravity alignment, while disallowing random rotations of the map
// that have nothing to do with gravity alignment (i.e. we disallow steps
// just changing "yaw" of the complete map).
ceres::QuaternionProduct(x, q_delta, x_plus_delta);
return true;
}
};
} // namespace
OptimizationProblem::OptimizationProblem(
const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
options,