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Use PoseExtrapolator in the 2D trajectory builder. (#448) 

This replaces the Predict() logic in the 2D trajectory builder.
master
Wolfgang Hess 2017-08-11 12:38:34 +02:00 committed by GitHub
parent 6ebfa50291
commit 73b0e5e20a
2 changed files with 37 additions and 114 deletions
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128
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -31,8 +31,7 @@ LocalTrajectoryBuilder::LocalTrajectoryBuilder(
motion_filter_(options_.motion_filter_options()), motion_filter_(options_.motion_filter_options()),
real_time_correlative_scan_matcher_( real_time_correlative_scan_matcher_(
options_.real_time_correlative_scan_matcher_options()), options_.real_time_correlative_scan_matcher_options()),
ceres_scan_matcher_(options_.ceres_scan_matcher_options()), ceres_scan_matcher_(options_.ceres_scan_matcher_options()) {}
odometry_state_tracker_(options_.num_odometry_states()) {}
LocalTrajectoryBuilder::~LocalTrajectoryBuilder() {} LocalTrajectoryBuilder::~LocalTrajectoryBuilder() {}
@ -84,27 +83,26 @@ void LocalTrajectoryBuilder::ScanMatch(
std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
LocalTrajectoryBuilder::AddHorizontalRangeData( LocalTrajectoryBuilder::AddHorizontalRangeData(
const common::Time time, const sensor::RangeData& range_data) { const common::Time time, const sensor::RangeData& range_data) {
// Initialize IMU tracker now if we do not ever use an IMU. // Initialize extrapolator now if we do not ever use an IMU.
if (!options_.use_imu_data()) { if (!options_.use_imu_data()) {
InitializeImuTracker(time); InitializeExtrapolator(time);
} }
if (imu_tracker_ == nullptr) { if (extrapolator_ == nullptr) {
// Until we've initialized the IMU tracker with our first IMU message, we // Until we've initialized the extrapolator with our first IMU message, we
// cannot compute the orientation of the rangefinder. // cannot compute the orientation of the rangefinder.
LOG(INFO) << "ImuTracker not yet initialized."; LOG(INFO) << "Extrapolator not yet initialized.";
return nullptr; return nullptr;
} }
Predict(time);
if (num_accumulated_ == 0) { if (num_accumulated_ == 0) {
first_pose_estimate_ = pose_estimate_.cast<float>(); first_pose_estimate_ = extrapolator_->ExtrapolatePose(time).cast<float>();
accumulated_range_data_ = accumulated_range_data_ =
sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}}; sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}};
} }
const transform::Rigid3f tracking_delta = const transform::Rigid3f tracking_delta =
first_pose_estimate_.inverse() * pose_estimate_.cast<float>(); first_pose_estimate_.inverse() *
extrapolator_->ExtrapolatePose(time).cast<float>();
const sensor::RangeData range_data_in_first_tracking = const sensor::RangeData range_data_in_first_tracking =
sensor::TransformRangeData(range_data, tracking_delta); sensor::TransformRangeData(range_data, tracking_delta);
// Drop any returns below the minimum range and convert returns beyond the // Drop any returns below the minimum range and convert returns beyond the
@ -136,11 +134,8 @@ LocalTrajectoryBuilder::AddHorizontalRangeData(
std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
LocalTrajectoryBuilder::AddAccumulatedRangeData( LocalTrajectoryBuilder::AddAccumulatedRangeData(
const common::Time time, const sensor::RangeData& range_data) { const common::Time time, const sensor::RangeData& range_data) {
const transform::Rigid3d odometry_prediction = const transform::Rigid3d pose_prediction =
pose_estimate_ * odometry_correction_; extrapolator_->ExtrapolatePose(time);
const transform::Rigid3d model_prediction = pose_estimate_;
// TODO(whess): Prefer IMU over odom orientation if configured?
const transform::Rigid3d& pose_prediction = odometry_prediction;
// Computes the rotation without yaw, as defined by GetYaw(). // Computes the rotation without yaw, as defined by GetYaw().
const transform::Rigid3d tracking_to_tracking_2d = const transform::Rigid3d tracking_to_tracking_2d =
@ -158,40 +153,15 @@ LocalTrajectoryBuilder::AddAccumulatedRangeData(
return nullptr; return nullptr;
} }
transform::Rigid3d pose_estimate;
ScanMatch(time, pose_prediction, tracking_to_tracking_2d, ScanMatch(time, pose_prediction, tracking_to_tracking_2d,
range_data_in_tracking_2d, &pose_estimate_); range_data_in_tracking_2d, &pose_estimate);
odometry_correction_ = transform::Rigid3d::Identity(); extrapolator_->AddPose(time, pose_estimate);
if (!odometry_state_tracker_.empty()) {
// We add an odometry state, so that the correction from the scan matching
// is not removed by the next odometry data we get.
odometry_state_tracker_.AddOdometryState(
{time, odometry_state_tracker_.newest().odometer_pose,
odometry_state_tracker_.newest().state_pose *
odometry_prediction.inverse() * pose_estimate_});
}
// Improve the velocity estimate.
if (last_scan_match_time_ > common::Time::min() &&
time > last_scan_match_time_) {
const double delta_t = common::ToSeconds(time - last_scan_match_time_);
// This adds the observed difference in velocity that would have reduced the
// error to zero.
velocity_estimate_ += (pose_estimate_.translation().head<2>() -
model_prediction.translation().head<2>()) /
delta_t;
}
last_scan_match_time_ = time_;
// Remove the untracked z-component which floats around 0 in the UKF.
const auto translation = pose_estimate_.translation();
pose_estimate_ = transform::Rigid3d(
transform::Rigid3d::Vector(translation.x(), translation.y(), 0.),
pose_estimate_.rotation());
const transform::Rigid3d tracking_2d_to_map = const transform::Rigid3d tracking_2d_to_map =
pose_estimate_ * tracking_to_tracking_2d.inverse(); pose_estimate * tracking_to_tracking_2d.inverse();
last_pose_estimate_ = { last_pose_estimate_ = {
time, pose_estimate_, time, pose_estimate,
sensor::TransformPointCloud(range_data_in_tracking_2d.returns, sensor::TransformPointCloud(range_data_in_tracking_2d.returns,
tracking_2d_to_map.cast<float>())}; tracking_2d_to_map.cast<float>())};
@ -223,64 +193,32 @@ LocalTrajectoryBuilder::pose_estimate() const {
void LocalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) { void LocalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added."; CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added.";
InitializeExtrapolator(imu_data.time);
InitializeImuTracker(imu_data.time); extrapolator_->AddImuData(imu_data);
Predict(imu_data.time);
imu_tracker_->AddImuLinearAccelerationObservation(
imu_data.linear_acceleration);
imu_tracker_->AddImuAngularVelocityObservation(imu_data.angular_velocity);
} }
void LocalTrajectoryBuilder::AddOdometerData( void LocalTrajectoryBuilder::AddOdometerData(
const common::Time time, const transform::Rigid3d& odometer_pose) { const common::Time time, const transform::Rigid3d& odometer_pose) {
if (imu_tracker_ == nullptr) { if (extrapolator_ == nullptr) {
// Until we've initialized the IMU tracker we do not want to call Predict(). // Until we've initialized the extrapolator we cannot add odometry data.
LOG(INFO) << "ImuTracker not yet initialized."; LOG(INFO) << "Extrapolator not yet initialized.";
return; return;
} }
extrapolator_->AddOdometryData(sensor::OdometryData{time, odometer_pose});
Predict(time);
if (!odometry_state_tracker_.empty()) {
const auto& previous_odometry_state = odometry_state_tracker_.newest();
const transform::Rigid3d delta =
previous_odometry_state.odometer_pose.inverse() * odometer_pose;
const transform::Rigid3d new_pose =
previous_odometry_state.state_pose * delta;
odometry_correction_ = pose_estimate_.inverse() * new_pose;
}
odometry_state_tracker_.AddOdometryState(
{time, odometer_pose, pose_estimate_ * odometry_correction_});
} }
void LocalTrajectoryBuilder::InitializeImuTracker(const common::Time time) { void LocalTrajectoryBuilder::InitializeExtrapolator(const common::Time time) {
if (imu_tracker_ == nullptr) { if (extrapolator_ != nullptr) {
imu_tracker_ = common::make_unique<mapping::ImuTracker>( return;
options_.imu_gravity_time_constant(), time);
} }
} // We derive velocities from poses which are at least 1 ms apart for numerical
// stability. Usually poses known to the extrapolator will be further apart
void LocalTrajectoryBuilder::Predict(const common::Time time) { // in time and thus the last two are used.
CHECK(imu_tracker_ != nullptr); constexpr double kExtrapolationEstimationTimeSec = 0.001;
CHECK_LE(time_, time); extrapolator_ = common::make_unique<mapping::PoseExtrapolator>(
const double last_yaw = transform::GetYaw(imu_tracker_->orientation()); ::cartographer::common::FromSeconds(kExtrapolationEstimationTimeSec),
imu_tracker_->Advance(time); options_.imu_gravity_time_constant());
if (time_ > common::Time::min()) { extrapolator_->AddPose(time, transform::Rigid3d::Identity());
const double delta_t = common::ToSeconds(time - time_);
// Constant velocity model.
const Eigen::Vector3d translation =
pose_estimate_.translation() +
delta_t *
Eigen::Vector3d(velocity_estimate_.x(), velocity_estimate_.y(), 0.);
// Use the current IMU tracker roll and pitch for gravity alignment, and
// apply its change in yaw.
const Eigen::Quaterniond rotation =
Eigen::AngleAxisd(
transform::GetYaw(pose_estimate_.rotation()) - last_yaw,
Eigen::Vector3d::UnitZ()) *
imu_tracker_->orientation();
pose_estimate_ = transform::Rigid3d(translation, rotation);
}
time_ = time;
} }
} // namespace mapping_2d } // namespace mapping_2d

23
cartographer/mapping_2d/local_trajectory_builder.h
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@ -21,8 +21,7 @@
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping/global_trajectory_builder_interface.h" #include "cartographer/mapping/global_trajectory_builder_interface.h"
#include "cartographer/mapping/imu_tracker.h" #include "cartographer/mapping/pose_extrapolator.h"
#include "cartographer/mapping/odometry_state_tracker.h"
#include "cartographer/mapping_2d/proto/local_trajectory_builder_options.pb.h" #include "cartographer/mapping_2d/proto/local_trajectory_builder_options.pb.h"
#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h" #include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h" #include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h"
@ -75,34 +74,20 @@ class LocalTrajectoryBuilder {
const sensor::RangeData& range_data_in_tracking_2d, const sensor::RangeData& range_data_in_tracking_2d,
transform::Rigid3d* pose_observation); transform::Rigid3d* pose_observation);
// Lazily constructs an ImuTracker. // Lazily constructs a PoseExtrapolator.
void InitializeImuTracker(common::Time time); void InitializeExtrapolator(common::Time time);
// Updates the current estimate to reflect the given 'time'.
void Predict(common::Time time);
const proto::LocalTrajectoryBuilderOptions options_; const proto::LocalTrajectoryBuilderOptions options_;
ActiveSubmaps active_submaps_; ActiveSubmaps active_submaps_;
PoseEstimate last_pose_estimate_; PoseEstimate last_pose_estimate_;
// Current 'pose_estimate_' and 'velocity_estimate_' at 'time_'.
common::Time time_ = common::Time::min();
transform::Rigid3d pose_estimate_ = transform::Rigid3d::Identity();
Eigen::Vector2d velocity_estimate_ = Eigen::Vector2d::Zero();
common::Time last_scan_match_time_ = common::Time::min();
// This is the difference between the model (constant velocity, IMU)
// prediction 'pose_estimate_' and the odometry prediction. To get the
// odometry prediction, right-multiply this to 'pose_estimate_'.
transform::Rigid3d odometry_correction_ = transform::Rigid3d::Identity();
mapping_3d::MotionFilter motion_filter_; mapping_3d::MotionFilter motion_filter_;
scan_matching::RealTimeCorrelativeScanMatcher scan_matching::RealTimeCorrelativeScanMatcher
real_time_correlative_scan_matcher_; real_time_correlative_scan_matcher_;
scan_matching::CeresScanMatcher ceres_scan_matcher_; scan_matching::CeresScanMatcher ceres_scan_matcher_;
std::unique_ptr<mapping::ImuTracker> imu_tracker_; std::unique_ptr<mapping::PoseExtrapolator> extrapolator_;
mapping::OdometryStateTracker odometry_state_tracker_;
int num_accumulated_ = 0; int num_accumulated_ = 0;
transform::Rigid3f first_pose_estimate_ = transform::Rigid3f::Identity(); transform::Rigid3f first_pose_estimate_ = transform::Rigid3f::Identity();