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Small improvements to 2D fixed frame pose support. (#1714) 

This is a follow up to #1580.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
master
Wolfgang Hess 2020-07-08 14:50:02 +02:00 committed by GitHub
parent 5899bff425
commit 595ffba0ce
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 14 additions and 8 deletions
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22
cartographer/mapping/internal/optimization/optimization_problem_2d.cc
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@ -209,6 +209,7 @@ void OptimizationProblem2D::InsertTrajectoryNode(const NodeId& node_id,
void OptimizationProblem2D::TrimTrajectoryNode(const NodeId& node_id) { void OptimizationProblem2D::TrimTrajectoryNode(const NodeId& node_id) {
imu_data_.Trim(node_data_, node_id); imu_data_.Trim(node_data_, node_id);
odometry_data_.Trim(node_data_, node_id); odometry_data_.Trim(node_data_, node_id);
fixed_frame_pose_data_.Trim(node_data_, node_id);
node_data_.Trim(node_id); node_data_.Trim(node_id);
if (node_data_.SizeOfTrajectoryOrZero(node_id.trajectory_id) == 0) { if (node_data_.SizeOfTrajectoryOrZero(node_id.trajectory_id) == 0) {
trajectory_data_.erase(node_id.trajectory_id); trajectory_data_.erase(node_id.trajectory_id);
@ -377,19 +378,24 @@ void OptimizationProblem2D::Solve(
fixed_frame_pose_in_map = transform::Project2D( fixed_frame_pose_in_map = transform::Project2D(
trajectory_data.fixed_frame_origin_in_map.value()); trajectory_data.fixed_frame_origin_in_map.value());
} else { } else {
fixed_frame_pose_in_map = node_data.global_pose_2d; fixed_frame_pose_in_map =
node_data.global_pose_2d *
transform::Project2D(constraint_pose.zbar_ij).inverse();
} }
C_fixed_frames.emplace( C_fixed_frames.emplace(trajectory_id,
std::piecewise_construct, std::forward_as_tuple(trajectory_id), FromPose(fixed_frame_pose_in_map));
std::forward_as_tuple(FromPose(fixed_frame_pose_in_map)));
fixed_frame_pose_initialized = true; fixed_frame_pose_initialized = true;
} }
problem.AddResidualBlock(CreateAutoDiffSpaCostFunction(constraint_pose), problem.AddResidualBlock(
nullptr /* loss function */, CreateAutoDiffSpaCostFunction(constraint_pose),
C_fixed_frames.at(trajectory_id).data(), options_.fixed_frame_pose_use_tolerant_loss()
C_nodes.at(node_id).data()); ? new ceres::TolerantLoss(
options_.fixed_frame_pose_tolerant_loss_param_a(),
options_.fixed_frame_pose_tolerant_loss_param_b())
: nullptr,
C_fixed_frames.at(trajectory_id).data(), C_nodes.at(node_id).data());
} }
} }