Extract SpaCostFunctions into their own files. (#71)
parent
f798805c4f
commit
4d361abe41
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@ -56,8 +56,20 @@ google_library(mapping_2d_sparse_pose_graph_optimization_problem
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common_lua_parameter_dictionary
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common_lua_parameter_dictionary
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common_math
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common_math
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common_port
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common_port
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mapping_2d_sparse_pose_graph_spa_cost_function
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mapping_2d_submaps
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mapping_2d_submaps
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mapping_sparse_pose_graph
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mapping_sparse_pose_graph
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mapping_sparse_pose_graph_proto_optimization_problem_options
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mapping_sparse_pose_graph_proto_optimization_problem_options
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transform_transform
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transform_transform
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)
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)
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google_library(mapping_2d_sparse_pose_graph_spa_cost_function
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USES_CERES
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USES_EIGEN
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HDRS
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spa_cost_function.h
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DEPENDS
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common_math
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mapping_sparse_pose_graph
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transform_rigid_transform
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)
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@ -26,6 +26,7 @@
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#include "cartographer/common/ceres_solver_options.h"
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#include "cartographer/common/ceres_solver_options.h"
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#include "cartographer/common/histogram.h"
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#include "cartographer/common/histogram.h"
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#include "cartographer/common/math.h"
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#include "cartographer/common/math.h"
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#include "cartographer/mapping_2d/sparse_pose_graph/spa_cost_function.h"
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#include "cartographer/transform/transform.h"
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#include "cartographer/transform/transform.h"
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#include "ceres/ceres.h"
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#include "ceres/ceres.h"
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#include "glog/logging.h"
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#include "glog/logging.h"
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@ -38,52 +38,6 @@ class OptimizationProblem {
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public:
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public:
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using Constraint = mapping::SparsePoseGraph::Constraint2D;
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using Constraint = mapping::SparsePoseGraph::Constraint2D;
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class SpaCostFunction {
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public:
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explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
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// Computes the error in the proposed change to the scan-to-submap alignment
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// 'zbar_ij' where submap pose 'c_i' and scan pose 'c_j' are both in an
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// arbitrary common frame.
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template <typename T>
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static std::array<T, 3> ComputeUnscaledError(
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const transform::Rigid2d& zbar_ij, const T* const c_i,
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const T* const c_j) {
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const T cos_theta_i = cos(c_i[2]);
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const T sin_theta_i = sin(c_i[2]);
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const T delta_x = c_j[0] - c_i[0];
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const T delta_y = c_j[1] - c_i[1];
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const T h[3] = {cos_theta_i * delta_x + sin_theta_i * delta_y,
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-sin_theta_i * delta_x + cos_theta_i * delta_y,
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c_j[2] - c_i[2]};
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return {{T(zbar_ij.translation().x()) - h[0],
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T(zbar_ij.translation().y()) - h[1],
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common::NormalizeAngleDifference(T(zbar_ij.rotation().angle()) -
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h[2])}};
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}
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// Scales the result of ComputeUnscaledError scaled by 'sqrt_Lambda_ij' and
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// stores it in 'e'.
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template <typename T>
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static void ComputeScaledError(const Constraint::Pose& pose,
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const T* const c_i, const T* const c_j,
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T* const e) {
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std::array<T, 3> e_ij = ComputeUnscaledError(pose.zbar_ij, c_i, c_j);
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(Eigen::Map<Eigen::Matrix<T, 3, 1>>(e)) =
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pose.sqrt_Lambda_ij.cast<T>() *
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Eigen::Map<Eigen::Matrix<T, 3, 1>>(e_ij.data());
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}
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template <typename T>
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bool operator()(const T* const c_i, const T* const c_j, T* e) const {
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ComputeScaledError(pose_, c_i, c_j, e);
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return true;
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}
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private:
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const Constraint::Pose pose_;
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};
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explicit OptimizationProblem(
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explicit OptimizationProblem(
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const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
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const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
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options);
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options);
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@ -104,18 +58,6 @@ class OptimizationProblem {
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std::vector<transform::Rigid2d>* submap_transforms);
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std::vector<transform::Rigid2d>* submap_transforms);
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private:
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private:
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class TieToPoseCostFunction {
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public:
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explicit TieToPoseCostFunction(const Constraint::Pose& pose)
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: pose_(pose) {}
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template <typename T>
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bool operator()(const T* const c_j, T* e) const;
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private:
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const Constraint::Pose pose_;
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};
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mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
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mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
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};
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};
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@ -0,0 +1,85 @@
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_2D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
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#define CARTOGRAPHER_MAPPING_2D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
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#include <array>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/math.h"
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#include "cartographer/mapping/sparse_pose_graph.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "ceres/ceres.h"
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#include "ceres/jet.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace sparse_pose_graph {
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class SpaCostFunction {
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public:
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using Constraint = mapping::SparsePoseGraph::Constraint2D;
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explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
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// Computes the error between the scan-to-submap alignment 'zbar_ij' and the
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// difference of submap pose 'c_i' and scan pose 'c_j' which are both in an
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// arbitrary common frame.
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template <typename T>
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static std::array<T, 3> ComputeUnscaledError(
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const transform::Rigid2d& zbar_ij, const T* const c_i,
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const T* const c_j) {
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const T cos_theta_i = cos(c_i[2]);
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const T sin_theta_i = sin(c_i[2]);
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const T delta_x = c_j[0] - c_i[0];
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const T delta_y = c_j[1] - c_i[1];
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const T h[3] = {cos_theta_i * delta_x + sin_theta_i * delta_y,
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-sin_theta_i * delta_x + cos_theta_i * delta_y,
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c_j[2] - c_i[2]};
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return {{T(zbar_ij.translation().x()) - h[0],
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T(zbar_ij.translation().y()) - h[1],
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common::NormalizeAngleDifference(T(zbar_ij.rotation().angle()) -
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h[2])}};
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}
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// Computes the error scaled by 'sqrt_Lambda_ij', storing it in 'e'.
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template <typename T>
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static void ComputeScaledError(const Constraint::Pose& pose,
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const T* const c_i, const T* const c_j,
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T* const e) {
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std::array<T, 3> e_ij = ComputeUnscaledError(pose.zbar_ij, c_i, c_j);
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(Eigen::Map<Eigen::Matrix<T, 3, 1>>(e)) =
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pose.sqrt_Lambda_ij.cast<T>() *
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Eigen::Map<Eigen::Matrix<T, 3, 1>>(e_ij.data());
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}
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template <typename T>
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bool operator()(const T* const c_i, const T* const c_j, T* e) const {
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ComputeScaledError(pose_, c_i, c_j, e);
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return true;
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}
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private:
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const Constraint::Pose pose_;
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};
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} // namespace sparse_pose_graph
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} // namespace mapping_2d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_
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@ -62,11 +62,23 @@ google_library(mapping_3d_sparse_pose_graph_optimization_problem
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mapping_3d_ceres_pose
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mapping_3d_ceres_pose
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mapping_3d_imu_integration
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mapping_3d_imu_integration
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mapping_3d_rotation_cost_function
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mapping_3d_rotation_cost_function
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mapping_3d_sparse_pose_graph_spa_cost_function
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mapping_3d_submaps
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mapping_3d_submaps
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mapping_sparse_pose_graph_proto_optimization_problem_options
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mapping_sparse_pose_graph_proto_optimization_problem_options
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transform_transform
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transform_transform
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)
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)
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google_library(mapping_3d_sparse_pose_graph_spa_cost_function
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USES_CERES
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USES_EIGEN
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HDRS
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spa_cost_function.h
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DEPENDS
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common_math
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mapping_sparse_pose_graph
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transform_rigid_transform
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)
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google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
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google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
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USES_EIGEN
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USES_EIGEN
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USES_GLOG
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USES_GLOG
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@ -32,6 +32,7 @@
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#include "cartographer/mapping_3d/ceres_pose.h"
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#include "cartographer/mapping_3d/ceres_pose.h"
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#include "cartographer/mapping_3d/imu_integration.h"
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#include "cartographer/mapping_3d/imu_integration.h"
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#include "cartographer/mapping_3d/rotation_cost_function.h"
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#include "cartographer/mapping_3d/rotation_cost_function.h"
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#include "cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h"
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#include "cartographer/transform/transform.h"
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#include "cartographer/transform/transform.h"
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#include "ceres/ceres.h"
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#include "ceres/ceres.h"
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#include "ceres/jet.h"
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#include "ceres/jet.h"
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@ -76,62 +77,6 @@ OptimizationProblem::OptimizationProblem(
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OptimizationProblem::~OptimizationProblem() {}
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OptimizationProblem::~OptimizationProblem() {}
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template <typename T>
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std::array<T, 6> OptimizationProblem::SpaCostFunction::ComputeUnscaledError(
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const transform::Rigid3d& zbar_ij, const T* const c_i_rotation,
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const T* const c_i_translation, const T* const c_j_rotation,
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const T* const c_j_translation) {
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const Eigen::Quaternion<T> R_i_inverse(c_i_rotation[0], -c_i_rotation[1],
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-c_i_rotation[2], -c_i_rotation[3]);
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const Eigen::Matrix<T, 3, 1> delta(c_j_translation[0] - c_i_translation[0],
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c_j_translation[1] - c_i_translation[1],
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c_j_translation[2] - c_i_translation[2]);
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const Eigen::Matrix<T, 3, 1> h_translation = R_i_inverse * delta;
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const Eigen::Quaternion<T> h_rotation_inverse =
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Eigen::Quaternion<T>(c_j_rotation[0], -c_j_rotation[1], -c_j_rotation[2],
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-c_j_rotation[3]) *
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Eigen::Quaternion<T>(c_i_rotation[0], c_i_rotation[1], c_i_rotation[2],
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c_i_rotation[3]);
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const Eigen::Matrix<T, 3, 1> angle_axis_difference =
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transform::RotationQuaternionToAngleAxisVector(
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h_rotation_inverse * zbar_ij.rotation().cast<T>());
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return {{T(zbar_ij.translation().x()) - h_translation[0],
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T(zbar_ij.translation().y()) - h_translation[1],
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T(zbar_ij.translation().z()) - h_translation[2],
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angle_axis_difference[0], angle_axis_difference[1],
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angle_axis_difference[2]}};
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}
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template <typename T>
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void OptimizationProblem::SpaCostFunction::ComputeScaledError(
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const Constraint::Pose& pose, const T* const c_i_rotation,
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const T* const c_i_translation, const T* const c_j_rotation,
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const T* const c_j_translation, T* const e) {
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std::array<T, 6> e_ij =
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ComputeUnscaledError(pose.zbar_ij, c_i_rotation, c_i_translation,
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c_j_rotation, c_j_translation);
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// Matrix-vector product of sqrt_Lambda_ij * e_ij
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for (int s = 0; s != 6; ++s) {
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e[s] = T(0.);
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for (int t = 0; t != 6; ++t) {
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e[s] += pose.sqrt_Lambda_ij(s, t) * e_ij[t];
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}
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}
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}
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template <typename T>
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bool OptimizationProblem::SpaCostFunction::operator()(
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const T* const c_i_rotation, const T* const c_i_translation,
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const T* const c_j_rotation, const T* const c_j_translation, T* e) const {
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ComputeScaledError(pose_, c_i_rotation, c_i_translation, c_j_rotation,
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c_j_translation, e);
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return true;
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}
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void OptimizationProblem::AddImuData(common::Time time,
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void OptimizationProblem::AddImuData(common::Time time,
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const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& angular_velocity) {
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const Eigen::Vector3d& angular_velocity) {
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@ -73,34 +73,6 @@ class OptimizationProblem {
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const std::vector<NodeData>& node_data() const;
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const std::vector<NodeData>& node_data() const;
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private:
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private:
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class SpaCostFunction {
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public:
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explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
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// Compute the error (linear offset and rotational error) without scaling
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// it by the covariance.
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template <typename T>
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static std::array<T, 6> ComputeUnscaledError(
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const transform::Rigid3d& zbar_ij, const T* const c_i_rotation,
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const T* const c_i_translation, const T* const c_j_rotation,
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const T* const c_j_translation);
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// Computes the error scaled by 'sqrt_Lambda_ij', storing it in 'e'.
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template <typename T>
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static void ComputeScaledError(const Constraint::Pose& pose,
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const T* const c_i_rotation,
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const T* const c_i_translation,
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const T* const c_j_rotation,
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const T* const c_j_translation, T* const e);
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template <typename T>
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bool operator()(const T* const c_i_rotation, const T* const c_i_translation,
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const T* const c_j_rotation, const T* const c_j_translation,
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T* const e) const;
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private:
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const Constraint::Pose pose_;
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};
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mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
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mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
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std::deque<ImuData> imu_data_;
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std::deque<ImuData> imu_data_;
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std::vector<NodeData> node_data_;
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std::vector<NodeData> node_data_;
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@ -0,0 +1,107 @@
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/*
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* Copyright 2016 The Cartographer Authors
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*
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|
* 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_
|
|
@ -23,6 +23,7 @@ google_library(sensor_collator
|
||||||
common_make_unique
|
common_make_unique
|
||||||
common_ordered_multi_queue
|
common_ordered_multi_queue
|
||||||
common_time
|
common_time
|
||||||
|
sensor_data
|
||||||
sensor_sensor_packet_period_histogram_builder
|
sensor_sensor_packet_period_histogram_builder
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue