diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc index 69b2a8e..52c6677 100644 --- a/cartographer/mapping_2d/sparse_pose_graph.cc +++ b/cartographer/mapping_2d/sparse_pose_graph.cc @@ -102,7 +102,7 @@ void SparsePoseGraph::AddScan( common::MutexLocker locker(&mutex_); AddTrajectoryIfNeeded(trajectory_id); - trajectory_nodes_.Append( + const mapping::NodeId node_id = trajectory_nodes_.Append( trajectory_id, mapping::TrajectoryNode{constant_data, optimized_pose}); ++num_trajectory_nodes_; @@ -124,7 +124,7 @@ void SparsePoseGraph::AddScan( // execute the lambda. const bool newly_finished_submap = insertion_submaps.front()->finished(); AddWorkItem([=]() REQUIRES(mutex_) { - ComputeConstraintsForScan(trajectory_id, insertion_submaps, + ComputeConstraintsForScan(node_id, insertion_submaps, newly_finished_submap); }); } @@ -188,10 +188,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id, // search window. const transform::Rigid2d initial_relative_pose = optimization_problem_.submap_data().at(submap_id).pose.inverse() * - optimization_problem_.node_data() - .at(node_id.trajectory_id) - .at(node_id.node_index) - .pose; + optimization_problem_.node_data().at(node_id).pose; constraint_builder_.MaybeAddConstraint( submap_id, submap_data_.at(submap_id).submap.get(), node_id, trajectory_nodes_.at(node_id).constant_data.get(), @@ -206,40 +203,23 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id, void SparsePoseGraph::ComputeConstraintsForOldScans( const mapping::SubmapId& 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(); - ++trajectory_id) { - for (const auto& index_node_data : node_data[trajectory_id]) { - const mapping::NodeId node_id{static_cast(trajectory_id), - index_node_data.first}; - CHECK(!trajectory_nodes_.at(node_id).trimmed()); - if (submap_data.node_ids.count(node_id) == 0) { - ComputeConstraint(node_id, submap_id); - } + for (const auto& node_id_data : optimization_problem_.node_data()) { + const mapping::NodeId& node_id = node_id_data.id; + CHECK(!trajectory_nodes_.at(node_id).trimmed()); + if (submap_data.node_ids.count(node_id) == 0) { + ComputeConstraint(node_id, submap_id); } } } void SparsePoseGraph::ComputeConstraintsForScan( - const int trajectory_id, + const mapping::NodeId& node_id, std::vector> insertion_submaps, const bool newly_finished_submap) { const std::vector submap_ids = - GrowSubmapTransformsAsNeeded(trajectory_id, insertion_submaps); + GrowSubmapTransformsAsNeeded(node_id.trajectory_id, insertion_submaps); CHECK_EQ(submap_ids.size(), insertion_submaps.size()); const mapping::SubmapId matching_id = submap_ids.front(); - const mapping::NodeId node_id{ - matching_id.trajectory_id, - static_cast(matching_id.trajectory_id) < - optimization_problem_.node_data().size() && - !optimization_problem_.node_data()[matching_id.trajectory_id] - .empty() - ? static_cast(optimization_problem_.node_data() - .at(matching_id.trajectory_id) - .rbegin() - ->first + - 1) - : 0}; const auto& constant_data = trajectory_nodes_.at(node_id).constant_data; const transform::Rigid2d pose = transform::Project2D( constant_data->initial_pose * @@ -489,14 +469,15 @@ void SparsePoseGraph::RunOptimization() { const auto& submap_data = optimization_problem_.submap_data(); const auto& node_data = optimization_problem_.node_data(); - for (int trajectory_id = 0; - trajectory_id != static_cast(node_data.size()); ++trajectory_id) { + for (auto node_it = node_data.begin(); node_it != node_data.end();) { + const int trajectory_id = node_it->id.trajectory_id; + const auto trajectory_end = node_data.EndOfTrajectory(trajectory_id); const int num_nodes = trajectory_nodes_.num_indices(trajectory_id); - for (const auto& node_data_index : node_data.at(trajectory_id)) { - const mapping::NodeId node_id{trajectory_id, node_data_index.first}; + for (; node_it != trajectory_end; ++node_it) { + const mapping::NodeId node_id = node_it->id; auto& node = trajectory_nodes_.at(node_id); node.pose = - transform::Embed3D(node_data_index.second.pose) * + transform::Embed3D(node_it->data.pose) * transform::Rigid3d::Rotation(node.constant_data->gravity_alignment); } // Extrapolate all point cloud poses that were added later. @@ -506,10 +487,7 @@ void SparsePoseGraph::RunOptimization() { optimized_submap_transforms_, trajectory_id); const transform::Rigid3d old_global_to_new_global = local_to_new_global * local_to_old_global.inverse(); - int last_optimized_node_index = - node_data.at(trajectory_id).empty() - ? 0 - : node_data.at(trajectory_id).rbegin()->first; + const int last_optimized_node_index = std::prev(node_it)->id.node_index; for (int node_index = last_optimized_node_index + 1; node_index < num_nodes; ++node_index) { const mapping::NodeId node_id{trajectory_id, node_index}; diff --git a/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h index 590b05b..ec3902d 100644 --- a/cartographer/mapping_2d/sparse_pose_graph.h +++ b/cartographer/mapping_2d/sparse_pose_graph.h @@ -134,7 +134,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { // Adds constraints for a scan, and starts scan matching in the background. void ComputeConstraintsForScan( - int trajectory_id, + const mapping::NodeId& node_id, std::vector> insertion_submaps, bool newly_finished_submap) REQUIRES(mutex_); diff --git a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc index 515466b..34a3276 100644 --- a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc +++ b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc @@ -82,25 +82,19 @@ void OptimizationProblem::AddTrajectoryNode( const int trajectory_id, const common::Time time, const transform::Rigid2d& initial_pose, const transform::Rigid2d& pose, const Eigen::Quaterniond& gravity_alignment) { - CHECK_GE(trajectory_id, 0); - node_data_.resize( - std::max(node_data_.size(), static_cast(trajectory_id) + 1)); - trajectory_data_.resize(std::max(trajectory_data_.size(), node_data_.size())); - auto& trajectory_data = trajectory_data_[trajectory_id]; - node_data_[trajectory_id].emplace( - trajectory_data.next_node_index, - NodeData{time, initial_pose, pose, gravity_alignment}); - ++trajectory_data.next_node_index; + node_data_.Append(trajectory_id, + NodeData{time, initial_pose, pose, gravity_alignment}); } void OptimizationProblem::TrimTrajectoryNode(const mapping::NodeId& node_id) { - auto& node_data = node_data_.at(node_id.trajectory_id); - CHECK(node_data.erase(node_id.node_index)); + node_data_.Trim(node_id); - if (!node_data.empty() && - node_id.trajectory_id < static_cast(imu_data_.size())) { - const common::Time node_time = node_data.begin()->second.time; - auto& imu_data = imu_data_.at(node_id.trajectory_id); + const int trajectory_id = node_id.trajectory_id; + if (node_data_.SizeOfTrajectoryOrZero(trajectory_id) == 0 && + trajectory_id < static_cast(imu_data_.size())) { + const common::Time node_time = + node_data_.BeginOfTrajectory(trajectory_id)->data.time; + auto& imu_data = imu_data_.at(trajectory_id); while (imu_data.size() > 1 && imu_data[1].time <= node_time) { imu_data.pop_front(); } @@ -134,7 +128,7 @@ void OptimizationProblem::Solve(const std::vector& constraints, // Set the starting point. // TODO(hrapp): Move ceres data into SubmapData. mapping::MapById> C_submaps; - std::vector>> C_nodes(node_data_.size()); + mapping::MapById> C_nodes; bool first_submap = true; for (const auto& submap_id_data : submap_data_) { const bool frozen = @@ -148,19 +142,13 @@ void OptimizationProblem::Solve(const std::vector& constraints, problem.SetParameterBlockConstant(C_submaps.at(submap_id_data.id).data()); } } - for (size_t trajectory_id = 0; trajectory_id != node_data_.size(); - ++trajectory_id) { - const bool frozen = frozen_trajectories.count(trajectory_id) != 0; - for (const auto& index_node_data : node_data_[trajectory_id]) { - const int node_index = index_node_data.first; - const NodeData& node_data = index_node_data.second; - C_nodes[trajectory_id].emplace(node_index, FromPose(node_data.pose)); - problem.AddParameterBlock(C_nodes[trajectory_id].at(node_index).data(), - 3); - if (frozen) { - problem.SetParameterBlockConstant( - C_nodes[trajectory_id].at(node_index).data()); - } + for (const auto& node_id_data : node_data_) { + const bool frozen = + frozen_trajectories.count(node_id_data.id.trajectory_id) != 0; + C_nodes.Insert(node_id_data.id, FromPose(node_id_data.data.pose)); + problem.AddParameterBlock(C_nodes.at(node_id_data.id).data(), 3); + if (frozen) { + problem.SetParameterBlockConstant(C_nodes.at(node_id_data.id).data()); } } // Add cost functions for intra- and inter-submap constraints. @@ -173,58 +161,52 @@ void OptimizationProblem::Solve(const std::vector& constraints, ? new ceres::HuberLoss(options_.huber_scale()) : nullptr, C_submaps.at(constraint.submap_id).data(), - C_nodes.at(constraint.node_id.trajectory_id) - .at(constraint.node_id.node_index) - .data()); + C_nodes.at(constraint.node_id).data()); } // Add penalties for violating odometry or changes between consecutive scans // if odometry is not available. - for (size_t trajectory_id = 0; trajectory_id != node_data_.size(); - ++trajectory_id) { - if (node_data_[trajectory_id].empty()) { - continue; - } + for (auto node_it = node_data_.begin(); node_it != node_data_.end();) { + const int trajectory_id = node_it->id.trajectory_id; + const auto trajectory_end = node_data_.EndOfTrajectory(trajectory_id); - for (auto node_it = node_data_[trajectory_id].begin();;) { - const int node_index = node_it->first; - const NodeData& node_data = node_it->second; - ++node_it; - if (node_it == node_data_[trajectory_id].end()) { - break; - } + auto prev_node_it = node_it; + for (++node_it; node_it != trajectory_end; ++node_it) { + const mapping::NodeId first_node_id = prev_node_it->id; + const NodeData& first_node_data = prev_node_it->data; + prev_node_it = node_it; + const mapping::NodeId second_node_id = node_it->id; + const NodeData& second_node_data = node_it->data; - const int next_node_index = node_it->first; - const NodeData& next_node_data = node_it->second; - - if (next_node_index != node_index + 1) { + if (second_node_id.node_index != first_node_id.node_index + 1) { continue; } const bool odometry_available = - trajectory_id < odometry_data_.size() && - odometry_data_[trajectory_id].Has(next_node_data.time) && - odometry_data_[trajectory_id].Has(node_data.time); + trajectory_id < static_cast(odometry_data_.size()) && + odometry_data_[trajectory_id].Has(second_node_data.time) && + odometry_data_[trajectory_id].Has(first_node_data.time); const transform::Rigid3d relative_pose = odometry_available - ? transform::Rigid3d::Rotation(node_data.gravity_alignment) * + ? transform::Rigid3d::Rotation( + first_node_data.gravity_alignment) * odometry_data_[trajectory_id] - .Lookup(node_data.time) + .Lookup(first_node_data.time) .inverse() * - odometry_data_[trajectory_id].Lookup(next_node_data.time) * + odometry_data_[trajectory_id].Lookup( + second_node_data.time) * transform::Rigid3d::Rotation( - next_node_data.gravity_alignment.inverse()) - : transform::Embed3D(node_data.initial_pose.inverse() * - next_node_data.initial_pose); + second_node_data.gravity_alignment.inverse()) + : transform::Embed3D(first_node_data.initial_pose.inverse() * + second_node_data.initial_pose); problem.AddResidualBlock( new ceres::AutoDiffCostFunction( new SpaCostFunction(Constraint::Pose{ relative_pose, options_.consecutive_scan_translation_penalty_factor(), options_.consecutive_scan_rotation_penalty_factor()})), - nullptr /* loss function */, - C_nodes[trajectory_id].at(node_index).data(), - C_nodes[trajectory_id].at(next_node_index).data()); + nullptr /* loss function */, C_nodes.at(first_node_id).data(), + C_nodes.at(second_node_id).data()); } } @@ -241,17 +223,13 @@ void OptimizationProblem::Solve(const std::vector& constraints, for (const auto& C_submap_id_data : C_submaps) { submap_data_.at(C_submap_id_data.id).pose = ToPose(C_submap_id_data.data); } - for (size_t trajectory_id = 0; trajectory_id != node_data_.size(); - ++trajectory_id) { - for (auto& index_node_data : node_data_[trajectory_id]) { - index_node_data.second.pose = - ToPose(C_nodes[trajectory_id].at(index_node_data.first)); - } + for (const auto& C_node_id_data : C_nodes) { + node_data_.at(C_node_id_data.id).pose = ToPose(C_node_id_data.data); } } -const std::vector>& OptimizationProblem::node_data() - const { +const mapping::MapById& +OptimizationProblem::node_data() const { return node_data_; } diff --git a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h index 708f3bd..2b45850 100644 --- a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h +++ b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h @@ -79,20 +79,15 @@ class OptimizationProblem { void Solve(const std::vector& constraints, const std::set& frozen_trajectories); - const std::vector>& node_data() const; + const mapping::MapById& node_data() const; const mapping::MapById& submap_data() const; private: - struct TrajectoryData { - // TODO(hrapp): Remove, once we can relabel constraints. - int next_node_index = 0; - }; mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_; std::vector> imu_data_; - std::vector> node_data_; + mapping::MapById node_data_; std::vector odometry_data_; mapping::MapById submap_data_; - std::vector trajectory_data_; }; } // namespace sparse_pose_graph