Refactor calling optimization into DispatchOptimization. (#729)
I noticed that @jihoonl opened the PR #726 which performs a similar thing. As discussed in googlecartographer/cartographer_ros#613 (@cschuet has already taken a look), I pulled this out of #481 (a really old PR whose merging has been postponed), which is an example where re-running optimization is triggered from elsewhere as well (besides from `ComputeConstraintsForNode`). This refactoring makes libcartographer friendlier for use cases such as that one. An important detail is that I have changed the condition in `WaitForAllComputations` to also check if the work queue is empty. If there are other things on the worker queue besides `ComputeConstraintsForNode`, currently we will wrongfully conclude that all computations are done. (This detail was merged in #754, so it's no longer in the diff of this PR). Also missing is the same thing for 3D. I can add that when we settle on this. Also, I suggest that `run_loop_closure` gets renamed to `run_optimization`.master
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@ -269,18 +269,21 @@ void PoseGraph::ComputeConstraintsForNode(
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}
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constraint_builder_.NotifyEndOfNode();
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++num_nodes_since_last_loop_closure_;
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CHECK(!run_loop_closure_);
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if (options_.optimize_every_n_nodes() > 0 &&
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num_nodes_since_last_loop_closure_ > options_.optimize_every_n_nodes()) {
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CHECK(!run_loop_closure_);
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DispatchOptimization();
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}
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}
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void PoseGraph::DispatchOptimization() {
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run_loop_closure_ = true;
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// If there is a 'work_queue_' already, some other thread will take care.
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if (work_queue_ == nullptr) {
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work_queue_ = common::make_unique<std::deque<std::function<void()>>>();
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HandleWorkQueue();
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}
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}
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}
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common::Time PoseGraph::GetLatestNodeTime(
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const mapping::NodeId& node_id, const mapping::SubmapId& submap_id) const {
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common::Time time = trajectory_nodes_.at(node_id).constant_data->time;
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@ -384,8 +387,8 @@ void PoseGraph::FinishTrajectory(const int trajectory_id) {
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for (const auto& submap : submap_data_.trajectory(trajectory_id)) {
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submap_data_.at(submap.id).state = SubmapState::kFinished;
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}
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// TODO(jihoonl): Refactor HandleWorkQueue() logic from
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// ComputeConstraintsForNode and call from here
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CHECK(!run_loop_closure_);
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DispatchOptimization();
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});
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}
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@ -505,14 +508,21 @@ void PoseGraph::AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) {
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}
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void PoseGraph::RunFinalOptimization() {
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WaitForAllComputations();
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{
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common::MutexLocker locker(&mutex_);
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AddWorkItem([this]() REQUIRES(mutex_) {
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optimization_problem_.SetMaxNumIterations(
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options_.max_num_final_iterations());
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RunOptimization();
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DispatchOptimization();
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});
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AddWorkItem([this]() REQUIRES(mutex_) {
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optimization_problem_.SetMaxNumIterations(
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options_.optimization_problem_options()
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.ceres_solver_options()
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.max_num_iterations());
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});
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}
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WaitForAllComputations();
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}
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void PoseGraph::RunOptimization() {
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@ -215,6 +215,9 @@ class PoseGraph : public mapping::PoseGraph {
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// Whether the optimization has to be run before more data is added.
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bool run_loop_closure_ GUARDED_BY(mutex_) = false;
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// Schedules optimization (i.e. loop closure) to run.
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void DispatchOptimization() REQUIRES(mutex_);
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// Current optimization problem.
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pose_graph::OptimizationProblem optimization_problem_;
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pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_);
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@ -286,16 +286,20 @@ void PoseGraph::ComputeConstraintsForNode(
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}
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constraint_builder_.NotifyEndOfNode();
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++num_nodes_since_last_loop_closure_;
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CHECK(!run_loop_closure_);
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if (options_.optimize_every_n_nodes() > 0 &&
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num_nodes_since_last_loop_closure_ > options_.optimize_every_n_nodes()) {
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CHECK(!run_loop_closure_);
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DispatchOptimization();
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}
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}
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void PoseGraph::DispatchOptimization() {
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run_loop_closure_ = true;
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// If there is a 'work_queue_' already, some other thread will take care.
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if (work_queue_ == nullptr) {
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work_queue_ = common::make_unique<std::deque<std::function<void()>>>();
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HandleWorkQueue();
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}
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}
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}
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common::Time PoseGraph::GetLatestNodeTime(
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@ -401,8 +405,8 @@ void PoseGraph::FinishTrajectory(const int trajectory_id) {
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for (const auto& submap : submap_data_.trajectory(trajectory_id)) {
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submap_data_.at(submap.id).state = SubmapState::kFinished;
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}
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// TODO(jihoonl): Refactor HandleWorkQueue() logic from
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// ComputeConstraintsForNode and call from here
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CHECK(!run_loop_closure_);
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DispatchOptimization();
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});
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}
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@ -507,14 +511,21 @@ void PoseGraph::AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) {
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}
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void PoseGraph::RunFinalOptimization() {
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WaitForAllComputations();
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{
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common::MutexLocker locker(&mutex_);
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AddWorkItem([this]() REQUIRES(mutex_) {
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optimization_problem_.SetMaxNumIterations(
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options_.max_num_final_iterations());
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RunOptimization();
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DispatchOptimization();
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});
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AddWorkItem([this]() REQUIRES(mutex_) {
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optimization_problem_.SetMaxNumIterations(
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options_.optimization_problem_options()
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.ceres_solver_options()
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.max_num_iterations());
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});
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}
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WaitForAllComputations();
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}
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void PoseGraph::LogResidualHistograms() {
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@ -219,6 +219,9 @@ class PoseGraph : public mapping::PoseGraph {
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// Whether the optimization has to be run before more data is added.
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bool run_loop_closure_ GUARDED_BY(mutex_) = false;
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// Schedules optimization (i.e. loop closure) to run.
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void DispatchOptimization() REQUIRES(mutex_);
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// Current optimization problem.
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pose_graph::OptimizationProblem optimization_problem_;
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pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_);
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