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Extract SpaCostFunctions into their own files. (#71)

master
Wolfgang Hess 2016-10-17 16:14:24 +02:00 committed by GitHub
parent f798805c4f
commit 4d361abe41
9 changed files with 219 additions and 142 deletions
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12
cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt
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@ -56,8 +56,20 @@ google_library(mapping_2d_sparse_pose_graph_optimization_problem
common_lua_parameter_dictionary
common_math
common_port
mapping_2d_sparse_pose_graph_spa_cost_function
mapping_2d_submaps
mapping_sparse_pose_graph
mapping_sparse_pose_graph_proto_optimization_problem_options
transform_transform
)
google_library(mapping_2d_sparse_pose_graph_spa_cost_function
USES_CERES
USES_EIGEN
HDRS
spa_cost_function.h
DEPENDS
common_math
mapping_sparse_pose_graph
transform_rigid_transform
)

1
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
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@ -26,6 +26,7 @@
#include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/histogram.h"
#include "cartographer/common/math.h"
#include "cartographer/mapping_2d/sparse_pose_graph/spa_cost_function.h"
#include "cartographer/transform/transform.h"
#include "ceres/ceres.h"
#include "glog/logging.h"

58
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
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@ -38,52 +38,6 @@ class OptimizationProblem {
public:
using Constraint = mapping::SparsePoseGraph::Constraint2D;
class SpaCostFunction {
public:
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
// Computes the error in the proposed change to the scan-to-submap alignment
// 'zbar_ij' where submap pose 'c_i' and scan pose 'c_j' are both in an
// arbitrary common frame.
template <typename T>
static std::array<T, 3> ComputeUnscaledError(
const transform::Rigid2d& zbar_ij, const T* const c_i,
const T* const c_j) {
const T cos_theta_i = cos(c_i[2]);
const T sin_theta_i = sin(c_i[2]);
const T delta_x = c_j[0] - c_i[0];
const T delta_y = c_j[1] - c_i[1];
const T h[3] = {cos_theta_i * delta_x + sin_theta_i * delta_y,
-sin_theta_i * delta_x + cos_theta_i * delta_y,
c_j[2] - c_i[2]};
return {{T(zbar_ij.translation().x()) - h[0],
T(zbar_ij.translation().y()) - h[1],
common::NormalizeAngleDifference(T(zbar_ij.rotation().angle()) -
h[2])}};
}
// Scales the result of ComputeUnscaledError scaled by 'sqrt_Lambda_ij' and
// stores it in 'e'.
template <typename T>
static void ComputeScaledError(const Constraint::Pose& pose,
const T* const c_i, const T* const c_j,
T* const e) {
std::array<T, 3> e_ij = ComputeUnscaledError(pose.zbar_ij, c_i, c_j);
(Eigen::Map<Eigen::Matrix<T, 3, 1>>(e)) =
pose.sqrt_Lambda_ij.cast<T>() *
Eigen::Map<Eigen::Matrix<T, 3, 1>>(e_ij.data());
}
template <typename T>
bool operator()(const T* const c_i, const T* const c_j, T* e) const {
ComputeScaledError(pose_, c_i, c_j, e);
return true;
}
private:
const Constraint::Pose pose_;
};
explicit OptimizationProblem(
const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
options);
@ -104,18 +58,6 @@ class OptimizationProblem {
std::vector<transform::Rigid2d>* submap_transforms);
private:
class TieToPoseCostFunction {
public:
explicit TieToPoseCostFunction(const Constraint::Pose& pose)
: pose_(pose) {}
template <typename T>
bool operator()(const T* const c_j, T* e) const;
private:
const Constraint::Pose pose_;
};
mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
};

85
cartographer/mapping_2d/sparse_pose_graph/spa_cost_function.h Normal file
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@ -0,0 +1,85 @@
/*
* 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_2D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
#define CARTOGRAPHER_MAPPING_2D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
#include <array>
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/common/math.h"
#include "cartographer/mapping/sparse_pose_graph.h"
#include "cartographer/transform/rigid_transform.h"
#include "ceres/ceres.h"
#include "ceres/jet.h"
namespace cartographer {
namespace mapping_2d {
namespace sparse_pose_graph {
class SpaCostFunction {
public:
using Constraint = mapping::SparsePoseGraph::Constraint2D;
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
// Computes the error between the scan-to-submap alignment 'zbar_ij' and the
// difference of submap pose 'c_i' and scan pose 'c_j' which are both in an
// arbitrary common frame.
template <typename T>
static std::array<T, 3> ComputeUnscaledError(
const transform::Rigid2d& zbar_ij, const T* const c_i,
const T* const c_j) {
const T cos_theta_i = cos(c_i[2]);
const T sin_theta_i = sin(c_i[2]);
const T delta_x = c_j[0] - c_i[0];
const T delta_y = c_j[1] - c_i[1];
const T h[3] = {cos_theta_i * delta_x + sin_theta_i * delta_y,
-sin_theta_i * delta_x + cos_theta_i * delta_y,
c_j[2] - c_i[2]};
return {{T(zbar_ij.translation().x()) - h[0],
T(zbar_ij.translation().y()) - h[1],
common::NormalizeAngleDifference(T(zbar_ij.rotation().angle()) -
h[2])}};
}
// Computes the error scaled by 'sqrt_Lambda_ij', storing it in 'e'.
template <typename T>
static void ComputeScaledError(const Constraint::Pose& pose,
const T* const c_i, const T* const c_j,
T* const e) {
std::array<T, 3> e_ij = ComputeUnscaledError(pose.zbar_ij, c_i, c_j);
(Eigen::Map<Eigen::Matrix<T, 3, 1>>(e)) =
pose.sqrt_Lambda_ij.cast<T>() *
Eigen::Map<Eigen::Matrix<T, 3, 1>>(e_ij.data());
}
template <typename T>
bool operator()(const T* const c_i, const T* const c_j, T* e) const {
ComputeScaledError(pose_, c_i, c_j, e);
return true;
}
private:
const Constraint::Pose pose_;
};
} // namespace sparse_pose_graph
} // namespace mapping_2d
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_

12
cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt
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@ -62,11 +62,23 @@ google_library(mapping_3d_sparse_pose_graph_optimization_problem
mapping_3d_ceres_pose
mapping_3d_imu_integration
mapping_3d_rotation_cost_function
mapping_3d_sparse_pose_graph_spa_cost_function
mapping_3d_submaps
mapping_sparse_pose_graph_proto_optimization_problem_options
transform_transform
)
google_library(mapping_3d_sparse_pose_graph_spa_cost_function
USES_CERES
USES_EIGEN
HDRS
spa_cost_function.h
DEPENDS
common_math
mapping_sparse_pose_graph
transform_rigid_transform
)
google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
USES_EIGEN
USES_GLOG

57
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
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@ -32,6 +32,7 @@
#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/sparse_pose_graph/spa_cost_function.h"
#include "cartographer/transform/transform.h"
#include "ceres/ceres.h"
#include "ceres/jet.h"
@ -76,62 +77,6 @@ OptimizationProblem::OptimizationProblem(
OptimizationProblem::~OptimizationProblem() {}
template <typename T>
std::array<T, 6> OptimizationProblem::SpaCostFunction::ComputeUnscaledError(
const transform::Rigid3d& zbar_ij, const T* const c_i_rotation,
const T* const c_i_translation, const T* const c_j_rotation,
const T* const c_j_translation) {
const Eigen::Quaternion<T> R_i_inverse(c_i_rotation[0], -c_i_rotation[1],
-c_i_rotation[2], -c_i_rotation[3]);
const Eigen::Matrix<T, 3, 1> delta(c_j_translation[0] - c_i_translation[0],
c_j_translation[1] - c_i_translation[1],
c_j_translation[2] - c_i_translation[2]);
const Eigen::Matrix<T, 3, 1> h_translation = R_i_inverse * delta;
const Eigen::Quaternion<T> h_rotation_inverse =
Eigen::Quaternion<T>(c_j_rotation[0], -c_j_rotation[1], -c_j_rotation[2],
-c_j_rotation[3]) *
Eigen::Quaternion<T>(c_i_rotation[0], c_i_rotation[1], c_i_rotation[2],
c_i_rotation[3]);
const Eigen::Matrix<T, 3, 1> angle_axis_difference =
transform::RotationQuaternionToAngleAxisVector(
h_rotation_inverse * zbar_ij.rotation().cast<T>());
return {{T(zbar_ij.translation().x()) - h_translation[0],
T(zbar_ij.translation().y()) - h_translation[1],
T(zbar_ij.translation().z()) - h_translation[2],
angle_axis_difference[0], angle_axis_difference[1],
angle_axis_difference[2]}};
}
template <typename T>
void OptimizationProblem::SpaCostFunction::ComputeScaledError(
const Constraint::Pose& pose, const T* const c_i_rotation,
const T* const c_i_translation, const T* const c_j_rotation,
const T* const c_j_translation, T* const e) {
std::array<T, 6> e_ij =
ComputeUnscaledError(pose.zbar_ij, c_i_rotation, c_i_translation,
c_j_rotation, c_j_translation);
// Matrix-vector product of sqrt_Lambda_ij * e_ij
for (int s = 0; s != 6; ++s) {
e[s] = T(0.);
for (int t = 0; t != 6; ++t) {
e[s] += pose.sqrt_Lambda_ij(s, t) * e_ij[t];
}
}
}
template <typename T>
bool OptimizationProblem::SpaCostFunction::operator()(
const T* const c_i_rotation, const T* const c_i_translation,
const T* const c_j_rotation, const T* const c_j_translation, T* e) const {
ComputeScaledError(pose_, c_i_rotation, c_i_translation, c_j_rotation,
c_j_translation, e);
return true;
}
void OptimizationProblem::AddImuData(common::Time time,
const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) {

28
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
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@ -73,34 +73,6 @@ class OptimizationProblem {
const std::vector<NodeData>& node_data() const;
private:
class SpaCostFunction {
public:
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
// Compute the error (linear offset and rotational error) without scaling
// it by the covariance.
template <typename T>
static std::array<T, 6> ComputeUnscaledError(
const transform::Rigid3d& zbar_ij, const T* const c_i_rotation,
const T* const c_i_translation, const T* const c_j_rotation,
const T* const c_j_translation);
// Computes the error scaled by 'sqrt_Lambda_ij', storing it in 'e'.
template <typename T>
static void ComputeScaledError(const Constraint::Pose& pose,
const T* const c_i_rotation,
const T* const c_i_translation,
const T* const c_j_rotation,
const T* const c_j_translation, T* const e);
template <typename T>
bool operator()(const T* const c_i_rotation, const T* const c_i_translation,
const T* const c_j_rotation, const T* const c_j_translation,
T* const e) const;
private:
const Constraint::Pose pose_;
};
mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
std::deque<ImuData> imu_data_;
std::vector<NodeData> node_data_;

107
cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h Normal file
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@ -0,0 +1,107 @@
/*
* 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_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
#include <array>
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/common/math.h"
#include "cartographer/mapping/sparse_pose_graph.h"
#include "cartographer/transform/rigid_transform.h"
#include "ceres/ceres.h"
#include "ceres/jet.h"
namespace cartographer {
namespace mapping_3d {
namespace sparse_pose_graph {
class SpaCostFunction {
public:
using Constraint = mapping::SparsePoseGraph::Constraint3D;
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
// Computes the error between the scan-to-submap alignment 'zbar_ij' and the
// difference of submap pose 'c_i' and scan pose 'c_j' which are both in an
// arbitrary common frame.
template <typename T>
static std::array<T, 6> ComputeUnscaledError(
const transform::Rigid3d& zbar_ij, const T* const c_i_rotation,
const T* const c_i_translation, const T* const c_j_rotation,
const T* const c_j_translation) {
const Eigen::Quaternion<T> R_i_inverse(c_i_rotation[0], -c_i_rotation[1],
-c_i_rotation[2],
-c_i_rotation[3]);
const Eigen::Matrix<T, 3, 1> delta(
c_j_translation[0] - c_i_translation[0],
c_j_translation[1] - c_i_translation[1],
c_j_translation[2] - c_i_translation[2]);
const Eigen::Matrix<T, 3, 1> h_translation = R_i_inverse * delta;
const Eigen::Quaternion<T> h_rotation_inverse =
Eigen::Quaternion<T>(c_j_rotation[0], -c_j_rotation[1],
-c_j_rotation[2], -c_j_rotation[3]) *
Eigen::Quaternion<T>(c_i_rotation[0], c_i_rotation[1],
c_i_rotation[2], c_i_rotation[3]);
const Eigen::Matrix<T, 3, 1> angle_axis_difference =
transform::RotationQuaternionToAngleAxisVector(
h_rotation_inverse * zbar_ij.rotation().cast<T>());
return {{T(zbar_ij.translation().x()) - h_translation[0],
T(zbar_ij.translation().y()) - h_translation[1],
T(zbar_ij.translation().z()) - h_translation[2],
angle_axis_difference[0], angle_axis_difference[1],
angle_axis_difference[2]}};
}
// Computes the error scaled by 'sqrt_Lambda_ij', storing it in 'e'.
template <typename T>
static void ComputeScaledError(const Constraint::Pose& pose,
const T* const c_i_rotation,
const T* const c_i_translation,
const T* const c_j_rotation,
const T* const c_j_translation, T* const e) {
std::array<T, 6> e_ij =
ComputeUnscaledError(pose.zbar_ij, c_i_rotation, c_i_translation,
c_j_rotation, c_j_translation);
(Eigen::Map<Eigen::Matrix<T, 6, 1>>(e)) =
pose.sqrt_Lambda_ij.cast<T>() *
Eigen::Map<Eigen::Matrix<T, 6, 1>>(e_ij.data());
}
template <typename T>
bool operator()(const T* const c_i_rotation, const T* const c_i_translation,
const T* const c_j_rotation, const T* const c_j_translation,
T* const e) const {
ComputeScaledError(pose_, c_i_rotation, c_i_translation, c_j_rotation,
c_j_translation, e);
return true;
}
private:
const Constraint::Pose pose_;
};
} // namespace sparse_pose_graph
} // namespace mapping_3d
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_

1
cartographer/sensor/CMakeLists.txt
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@ -23,6 +23,7 @@ google_library(sensor_collator
common_make_unique
common_ordered_multi_queue
common_time
sensor_data
sensor_sensor_packet_period_histogram_builder
)