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Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. (#918) 

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
master
Alexander Belyaev 2018-02-20 15:28:21 +01:00 committed by GitHub
parent 43544f0fbc
commit a58866cb38
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 206 additions and 222 deletions
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5
cartographer/mapping/local_slam_result_data.cc
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@ -63,9 +63,8 @@ void LocalSlamResult3D::AddToTrajectoryBuilder(
void LocalSlamResult3D::AddToPoseGraph(int trajectory_id, void LocalSlamResult3D::AddToPoseGraph(int trajectory_id,
mapping::PoseGraph* pose_graph) const { mapping::PoseGraph* pose_graph) const {
DCHECK(dynamic_cast<mapping_3d::PoseGraph*>(pose_graph)); DCHECK(dynamic_cast<PoseGraph3D*>(pose_graph));
mapping_3d::PoseGraph* pose_graph_3d = PoseGraph3D* pose_graph_3d = static_cast<PoseGraph3D*>(pose_graph);
static_cast<mapping_3d::PoseGraph*>(pose_graph);
pose_graph_3d->AddNode(node_data_, trajectory_id, insertion_submaps_); pose_graph_3d->AddNode(node_data_, trajectory_id, insertion_submaps_);
} }

22
cartographer/mapping/local_slam_result_data.h
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@ -18,7 +18,7 @@
#define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H #define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
#include "cartographer/mapping_2d/pose_graph_2d.h" #include "cartographer/mapping_2d/pose_graph_2d.h"
#include "cartographer/mapping_3d/pose_graph.h" #include "cartographer/mapping_3d/pose_graph_3d.h"
#include "cartographer/sensor/data.h" #include "cartographer/sensor/data.h"
namespace cartographer { namespace cartographer {
@ -31,7 +31,7 @@ class LocalSlamResultData : public cartographer::sensor::Data {
common::Time GetTime() const override { return time_; } common::Time GetTime() const override { return time_; }
virtual void AddToPoseGraph(int trajectory_id, virtual void AddToPoseGraph(int trajectory_id,
mapping::PoseGraph* pose_graph) const = 0; PoseGraph* pose_graph) const = 0;
private: private:
common::Time time_; common::Time time_;
@ -41,17 +41,16 @@ class LocalSlamResult2D : public LocalSlamResultData {
public: public:
LocalSlamResult2D( LocalSlamResult2D(
const std::string& sensor_id, common::Time time, const std::string& sensor_id, common::Time time,
std::shared_ptr<const mapping::TrajectoryNode::Data> node_data, std::shared_ptr<const TrajectoryNode::Data> node_data,
const std::vector<std::shared_ptr<const mapping_2d::Submap>>& const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
insertion_submaps); insertion_submaps);
void AddToTrajectoryBuilder( void AddToTrajectoryBuilder(
mapping::TrajectoryBuilderInterface* const trajectory_builder) override; TrajectoryBuilderInterface* const trajectory_builder) override;
void AddToPoseGraph(int trajectory_id, void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
mapping::PoseGraph* pose_graph) const override;
private: private:
std::shared_ptr<const mapping::TrajectoryNode::Data> node_data_; std::shared_ptr<const TrajectoryNode::Data> node_data_;
std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps_; std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps_;
}; };
@ -59,17 +58,16 @@ class LocalSlamResult3D : public LocalSlamResultData {
public: public:
LocalSlamResult3D( LocalSlamResult3D(
const std::string& sensor_id, common::Time time, const std::string& sensor_id, common::Time time,
std::shared_ptr<const mapping::TrajectoryNode::Data> node_data, std::shared_ptr<const TrajectoryNode::Data> node_data,
const std::vector<std::shared_ptr<const mapping_3d::Submap>>& const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
insertion_submaps); insertion_submaps);
void AddToTrajectoryBuilder( void AddToTrajectoryBuilder(
mapping::TrajectoryBuilderInterface* const trajectory_builder) override; TrajectoryBuilderInterface* const trajectory_builder) override;
void AddToPoseGraph(int trajectory_id, void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
mapping::PoseGraph* pose_graph) const override;
private: private:
std::shared_ptr<const mapping::TrajectoryNode::Data> node_data_; std::shared_ptr<const TrajectoryNode::Data> node_data_;
std::vector<std::shared_ptr<const mapping_3d::Submap>> insertion_submaps_; std::vector<std::shared_ptr<const mapping_3d::Submap>> insertion_submaps_;
}; };

9
cartographer/mapping/map_builder.cc
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@ -63,7 +63,7 @@ MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
pose_graph_ = pose_graph_2d_.get(); pose_graph_ = pose_graph_2d_.get();
} }
if (options.use_trajectory_builder_3d()) { if (options.use_trajectory_builder_3d()) {
pose_graph_3d_ = common::make_unique<mapping_3d::PoseGraph>( pose_graph_3d_ = common::make_unique<PoseGraph3D>(
options_.pose_graph_options(), &thread_pool_); options_.pose_graph_options(), &thread_pool_);
pose_graph_ = pose_graph_3d_.get(); pose_graph_ = pose_graph_3d_.get();
} }
@ -92,10 +92,9 @@ int MapBuilder::AddTrajectoryBuilder(
sensor_collator_.get(), trajectory_id, expected_sensor_ids, sensor_collator_.get(), trajectory_id, expected_sensor_ids,
common::make_unique<mapping::GlobalTrajectoryBuilder< common::make_unique<mapping::GlobalTrajectoryBuilder<
mapping_3d::LocalTrajectoryBuilder, mapping_3d::LocalTrajectoryBuilder,
mapping_3d::proto::LocalTrajectoryBuilderOptions, mapping_3d::proto::LocalTrajectoryBuilderOptions, PoseGraph3D>>(
mapping_3d::PoseGraph>>(std::move(local_trajectory_builder), std::move(local_trajectory_builder), trajectory_id,
trajectory_id, pose_graph_3d_.get(), pose_graph_3d_.get(), local_slam_result_callback)));
local_slam_result_callback)));
} else { } else {
std::unique_ptr<mapping_2d::LocalTrajectoryBuilder> std::unique_ptr<mapping_2d::LocalTrajectoryBuilder>
local_trajectory_builder; local_trajectory_builder;

4
cartographer/mapping/map_builder.h
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@ -25,7 +25,7 @@
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/mapping/proto/map_builder_options.pb.h" #include "cartographer/mapping/proto/map_builder_options.pb.h"
#include "cartographer/mapping_2d/pose_graph_2d.h" #include "cartographer/mapping_2d/pose_graph_2d.h"
#include "cartographer/mapping_3d/pose_graph.h" #include "cartographer/mapping_3d/pose_graph_3d.h"
#include "cartographer/sensor/collator_interface.h" #include "cartographer/sensor/collator_interface.h"
namespace cartographer { namespace cartographer {
@ -77,7 +77,7 @@ class MapBuilder : public MapBuilderInterface {
common::ThreadPool thread_pool_; common::ThreadPool thread_pool_;
std::unique_ptr<PoseGraph2D> pose_graph_2d_; std::unique_ptr<PoseGraph2D> pose_graph_2d_;
std::unique_ptr<mapping_3d::PoseGraph> pose_graph_3d_; std::unique_ptr<PoseGraph3D> pose_graph_3d_;
mapping::PoseGraph* pose_graph_; mapping::PoseGraph* pose_graph_;
std::unique_ptr<sensor::CollatorInterface> sensor_collator_; std::unique_ptr<sensor::CollatorInterface> sensor_collator_;

273
cartographer/mapping_3d/pose_graph.cc → cartographer/mapping_3d/pose_graph_3d.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/pose_graph.h" #include "cartographer/mapping_3d/pose_graph_3d.h"
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
@ -37,24 +37,26 @@
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping {
PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options, PoseGraph3D::PoseGraph3D(const proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool) common::ThreadPool* thread_pool)
: options_(options), : options_(options),
optimization_problem_(options_.optimization_problem_options(), optimization_problem_(
pose_graph::OptimizationProblem::FixZ::kNo), options_.optimization_problem_options(),
mapping_3d::pose_graph::OptimizationProblem::FixZ::kNo),
constraint_builder_(options_.constraint_builder_options(), thread_pool) {} constraint_builder_(options_.constraint_builder_options(), thread_pool) {}
PoseGraph::~PoseGraph() { PoseGraph3D::~PoseGraph3D() {
WaitForAllComputations(); WaitForAllComputations();
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
CHECK(work_queue_ == nullptr); CHECK(work_queue_ == nullptr);
} }
std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses( std::vector<SubmapId> PoseGraph3D::InitializeGlobalSubmapPoses(
const int trajectory_id, const common::Time time, const int trajectory_id, const common::Time time,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) { const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
insertion_submaps) {
CHECK(!insertion_submaps.empty()); CHECK(!insertion_submaps.empty());
const auto& submap_data = optimization_problem_.submap_data(); const auto& submap_data = optimization_problem_.submap_data();
if (insertion_submaps.size() == 1) { if (insertion_submaps.size() == 1) {
@ -71,14 +73,14 @@ std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses(
insertion_submaps[0]->local_pose()); insertion_submaps[0]->local_pose());
} }
CHECK_EQ(1, submap_data.SizeOfTrajectoryOrZero(trajectory_id)); CHECK_EQ(1, submap_data.SizeOfTrajectoryOrZero(trajectory_id));
const mapping::SubmapId submap_id{trajectory_id, 0}; const SubmapId submap_id{trajectory_id, 0};
CHECK(submap_data_.at(submap_id).submap == insertion_submaps.front()); CHECK(submap_data_.at(submap_id).submap == insertion_submaps.front());
return {submap_id}; return {submap_id};
} }
CHECK_EQ(2, insertion_submaps.size()); CHECK_EQ(2, insertion_submaps.size());
const auto end_it = submap_data.EndOfTrajectory(trajectory_id); const auto end_it = submap_data.EndOfTrajectory(trajectory_id);
CHECK(submap_data.BeginOfTrajectory(trajectory_id) != end_it); CHECK(submap_data.BeginOfTrajectory(trajectory_id) != end_it);
const mapping::SubmapId last_submap_id = std::prev(end_it)->id; const SubmapId last_submap_id = std::prev(end_it)->id;
if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) { if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) {
// In this case, 'last_submap_id' is the ID of 'insertions_submaps.front()' // In this case, 'last_submap_id' is the ID of 'insertions_submaps.front()'
// and 'insertions_submaps.back()' is new. // and 'insertions_submaps.back()' is new.
@ -88,26 +90,27 @@ std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses(
insertion_submaps[0]->local_pose().inverse() * insertion_submaps[0]->local_pose().inverse() *
insertion_submaps[1]->local_pose()); insertion_submaps[1]->local_pose());
return {last_submap_id, return {last_submap_id,
mapping::SubmapId{trajectory_id, last_submap_id.submap_index + 1}}; SubmapId{trajectory_id, last_submap_id.submap_index + 1}};
} }
CHECK(submap_data_.at(last_submap_id).submap == insertion_submaps.back()); CHECK(submap_data_.at(last_submap_id).submap == insertion_submaps.back());
const mapping::SubmapId front_submap_id{trajectory_id, const SubmapId front_submap_id{trajectory_id,
last_submap_id.submap_index - 1}; last_submap_id.submap_index - 1};
CHECK(submap_data_.at(front_submap_id).submap == insertion_submaps.front()); CHECK(submap_data_.at(front_submap_id).submap == insertion_submaps.front());
return {front_submap_id, last_submap_id}; return {front_submap_id, last_submap_id};
} }
mapping::NodeId PoseGraph::AddNode( NodeId PoseGraph3D::AddNode(
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data, std::shared_ptr<const TrajectoryNode::Data> constant_data,
const int trajectory_id, const int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) { const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
insertion_submaps) {
const transform::Rigid3d optimized_pose( const transform::Rigid3d optimized_pose(
GetLocalToGlobalTransform(trajectory_id) * constant_data->local_pose); GetLocalToGlobalTransform(trajectory_id) * constant_data->local_pose);
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddTrajectoryIfNeeded(trajectory_id); AddTrajectoryIfNeeded(trajectory_id);
const mapping::NodeId node_id = trajectory_nodes_.Append( const NodeId node_id = trajectory_nodes_.Append(
trajectory_id, mapping::TrajectoryNode{constant_data, optimized_pose}); trajectory_id, TrajectoryNode{constant_data, optimized_pose});
++num_trajectory_nodes_; ++num_trajectory_nodes_;
// Test if the 'insertion_submap.back()' is one we never saw before. // Test if the 'insertion_submap.back()' is one we never saw before.
@ -116,8 +119,7 @@ mapping::NodeId PoseGraph::AddNode(
insertion_submaps.back()) { insertion_submaps.back()) {
// We grow 'submap_data_' as needed. This code assumes that the first // We grow 'submap_data_' as needed. This code assumes that the first
// time we see a new submap is as 'insertion_submaps.back()'. // time we see a new submap is as 'insertion_submaps.back()'.
const mapping::SubmapId submap_id = const SubmapId submap_id = submap_data_.Append(trajectory_id, SubmapData());
submap_data_.Append(trajectory_id, SubmapData());
submap_data_.at(submap_id).submap = insertion_submaps.back(); submap_data_.at(submap_id).submap = insertion_submaps.back();
} }
@ -131,7 +133,7 @@ mapping::NodeId PoseGraph::AddNode(
return node_id; return node_id;
} }
void PoseGraph::AddWorkItem(const std::function<void()>& work_item) { void PoseGraph3D::AddWorkItem(const std::function<void()>& work_item) {
if (work_queue_ == nullptr) { if (work_queue_ == nullptr) {
work_item(); work_item();
} else { } else {
@ -139,7 +141,7 @@ void PoseGraph::AddWorkItem(const std::function<void()>& work_item) {
} }
} }
void PoseGraph::AddTrajectoryIfNeeded(const int trajectory_id) { void PoseGraph3D::AddTrajectoryIfNeeded(const int trajectory_id) {
trajectory_connectivity_state_.Add(trajectory_id); trajectory_connectivity_state_.Add(trajectory_id);
// Make sure we have a sampler for this trajectory. // Make sure we have a sampler for this trajectory.
if (!global_localization_samplers_[trajectory_id]) { if (!global_localization_samplers_[trajectory_id]) {
@ -149,23 +151,23 @@ void PoseGraph::AddTrajectoryIfNeeded(const int trajectory_id) {
} }
} }
void PoseGraph::AddImuData(const int trajectory_id, void PoseGraph3D::AddImuData(const int trajectory_id,
const sensor::ImuData& imu_data) { const sensor::ImuData& imu_data) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) { AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddImuData(trajectory_id, imu_data); optimization_problem_.AddImuData(trajectory_id, imu_data);
}); });
} }
void PoseGraph::AddOdometryData(const int trajectory_id, void PoseGraph3D::AddOdometryData(const int trajectory_id,
const sensor::OdometryData& odometry_data) { const sensor::OdometryData& odometry_data) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) { AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddOdometryData(trajectory_id, odometry_data); optimization_problem_.AddOdometryData(trajectory_id, odometry_data);
}); });
} }
void PoseGraph::AddFixedFramePoseData( void PoseGraph3D::AddFixedFramePoseData(
const int trajectory_id, const int trajectory_id,
const sensor::FixedFramePoseData& fixed_frame_pose_data) { const sensor::FixedFramePoseData& fixed_frame_pose_data) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
@ -175,8 +177,8 @@ void PoseGraph::AddFixedFramePoseData(
}); });
} }
void PoseGraph::AddLandmarkData(int trajectory_id, void PoseGraph3D::AddLandmarkData(int trajectory_id,
const sensor::LandmarkData& landmark_data) const sensor::LandmarkData& landmark_data)
EXCLUDES(mutex_) { EXCLUDES(mutex_) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) { AddWorkItem([=]() REQUIRES(mutex_) {
@ -190,8 +192,8 @@ void PoseGraph::AddLandmarkData(int trajectory_id,
}); });
} }
void PoseGraph::ComputeConstraint(const mapping::NodeId& node_id, void PoseGraph3D::ComputeConstraint(const NodeId& node_id,
const mapping::SubmapId& submap_id) { const SubmapId& submap_id) {
CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished); CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished);
const transform::Rigid3d global_node_pose = const transform::Rigid3d global_node_pose =
@ -203,13 +205,12 @@ void PoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
const transform::Rigid3d global_submap_pose_inverse = const transform::Rigid3d global_submap_pose_inverse =
global_submap_pose.inverse(); global_submap_pose.inverse();
std::vector<mapping::TrajectoryNode> submap_nodes; std::vector<TrajectoryNode> submap_nodes;
for (const mapping::NodeId& submap_node_id : for (const NodeId& submap_node_id : submap_data_.at(submap_id).node_ids) {
submap_data_.at(submap_id).node_ids) { submap_nodes.push_back(
submap_nodes.push_back(mapping::TrajectoryNode{ TrajectoryNode{trajectory_nodes_.at(submap_node_id).constant_data,
trajectory_nodes_.at(submap_node_id).constant_data, global_submap_pose_inverse *
global_submap_pose_inverse * trajectory_nodes_.at(submap_node_id).global_pose});
trajectory_nodes_.at(submap_node_id).global_pose});
} }
const common::Time node_time = GetLatestNodeTime(node_id, submap_id); const common::Time node_time = GetLatestNodeTime(node_id, submap_id);
@ -242,26 +243,25 @@ void PoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
} }
} }
void PoseGraph::ComputeConstraintsForOldNodes( void PoseGraph3D::ComputeConstraintsForOldNodes(const SubmapId& submap_id) {
const mapping::SubmapId& submap_id) {
const auto& submap_data = submap_data_.at(submap_id); const auto& submap_data = submap_data_.at(submap_id);
for (const auto& node_id_data : optimization_problem_.node_data()) { for (const auto& node_id_data : optimization_problem_.node_data()) {
const mapping::NodeId& node_id = node_id_data.id; const NodeId& node_id = node_id_data.id;
if (submap_data.node_ids.count(node_id) == 0) { if (submap_data.node_ids.count(node_id) == 0) {
ComputeConstraint(node_id, submap_id); ComputeConstraint(node_id, submap_id);
} }
} }
} }
void PoseGraph::ComputeConstraintsForNode( void PoseGraph3D::ComputeConstraintsForNode(
const mapping::NodeId& node_id, const NodeId& node_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps, std::vector<std::shared_ptr<const mapping_3d::Submap>> insertion_submaps,
const bool newly_finished_submap) { const bool newly_finished_submap) {
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data; const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
const std::vector<mapping::SubmapId> submap_ids = InitializeGlobalSubmapPoses( const std::vector<SubmapId> submap_ids = InitializeGlobalSubmapPoses(
node_id.trajectory_id, constant_data->time, insertion_submaps); node_id.trajectory_id, constant_data->time, insertion_submaps);
CHECK_EQ(submap_ids.size(), insertion_submaps.size()); CHECK_EQ(submap_ids.size(), insertion_submaps.size());
const mapping::SubmapId matching_id = submap_ids.front(); const SubmapId matching_id = submap_ids.front();
const transform::Rigid3d& local_pose = constant_data->local_pose; const transform::Rigid3d& local_pose = constant_data->local_pose;
const transform::Rigid3d global_pose = const transform::Rigid3d global_pose =
optimization_problem_.submap_data().at(matching_id).global_pose * optimization_problem_.submap_data().at(matching_id).global_pose *
@ -269,7 +269,7 @@ void PoseGraph::ComputeConstraintsForNode(
optimization_problem_.AddTrajectoryNode( optimization_problem_.AddTrajectoryNode(
matching_id.trajectory_id, constant_data->time, local_pose, global_pose); matching_id.trajectory_id, constant_data->time, local_pose, global_pose);
for (size_t i = 0; i < insertion_submaps.size(); ++i) { for (size_t i = 0; i < insertion_submaps.size(); ++i) {
const mapping::SubmapId submap_id = submap_ids[i]; const SubmapId submap_id = submap_ids[i];
// Even if this was the last node added to 'submap_id', the submap will only // Even if this was the last node added to 'submap_id', the submap will only
// be marked as finished in 'submap_data_' further below. // be marked as finished in 'submap_data_' further below.
CHECK(submap_data_.at(submap_id).state == SubmapState::kActive); CHECK(submap_data_.at(submap_id).state == SubmapState::kActive);
@ -292,7 +292,7 @@ void PoseGraph::ComputeConstraintsForNode(
} }
if (newly_finished_submap) { if (newly_finished_submap) {
const mapping::SubmapId finished_submap_id = submap_ids.front(); const SubmapId finished_submap_id = submap_ids.front();
SubmapData& finished_submap_data = submap_data_.at(finished_submap_id); SubmapData& finished_submap_data = submap_data_.at(finished_submap_id);
CHECK(finished_submap_data.state == SubmapState::kActive); CHECK(finished_submap_data.state == SubmapState::kActive);
finished_submap_data.state = SubmapState::kFinished; finished_submap_data.state = SubmapState::kFinished;
@ -309,7 +309,7 @@ void PoseGraph::ComputeConstraintsForNode(
} }
} }
void PoseGraph::DispatchOptimization() { void PoseGraph3D::DispatchOptimization() {
run_loop_closure_ = true; run_loop_closure_ = true;
// If there is a 'work_queue_' already, some other thread will take care. // If there is a 'work_queue_' already, some other thread will take care.
if (work_queue_ == nullptr) { if (work_queue_ == nullptr) {
@ -318,12 +318,12 @@ void PoseGraph::DispatchOptimization() {
} }
} }
common::Time PoseGraph::GetLatestNodeTime( common::Time PoseGraph3D::GetLatestNodeTime(const NodeId& node_id,
const mapping::NodeId& node_id, const mapping::SubmapId& submap_id) const { const SubmapId& submap_id) const {
common::Time time = trajectory_nodes_.at(node_id).constant_data->time; common::Time time = trajectory_nodes_.at(node_id).constant_data->time;
const SubmapData& submap_data = submap_data_.at(submap_id); const SubmapData& submap_data = submap_data_.at(submap_id);
if (!submap_data.node_ids.empty()) { if (!submap_data.node_ids.empty()) {
const mapping::NodeId last_submap_node_id = const NodeId last_submap_node_id =
*submap_data_.at(submap_id).node_ids.rbegin(); *submap_data_.at(submap_id).node_ids.rbegin();
time = std::max( time = std::max(
time, trajectory_nodes_.at(last_submap_node_id).constant_data->time); time, trajectory_nodes_.at(last_submap_node_id).constant_data->time);
@ -331,8 +331,8 @@ common::Time PoseGraph::GetLatestNodeTime(
return time; return time;
} }
void PoseGraph::UpdateTrajectoryConnectivity(const Constraint& constraint) { void PoseGraph3D::UpdateTrajectoryConnectivity(const Constraint& constraint) {
CHECK_EQ(constraint.tag, mapping::PoseGraph::Constraint::INTER_SUBMAP); CHECK_EQ(constraint.tag, PoseGraph::Constraint::INTER_SUBMAP);
const common::Time time = const common::Time time =
GetLatestNodeTime(constraint.node_id, constraint.submap_id); GetLatestNodeTime(constraint.node_id, constraint.submap_id);
trajectory_connectivity_state_.Connect(constraint.node_id.trajectory_id, trajectory_connectivity_state_.Connect(constraint.node_id.trajectory_id,
@ -340,9 +340,9 @@ void PoseGraph::UpdateTrajectoryConnectivity(const Constraint& constraint) {
time); time);
} }
void PoseGraph::HandleWorkQueue() { void PoseGraph3D::HandleWorkQueue() {
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
[this](const pose_graph::ConstraintBuilder::Result& result) { [this](const mapping_3d::pose_graph::ConstraintBuilder::Result& result) {
{ {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end()); constraints_.insert(constraints_.end(), result.begin(), result.end());
@ -358,11 +358,10 @@ void PoseGraph::HandleWorkQueue() {
trimmer->Trim(&trimming_handle); trimmer->Trim(&trimming_handle);
} }
trimmers_.erase( trimmers_.erase(
std::remove_if( std::remove_if(trimmers_.begin(), trimmers_.end(),
trimmers_.begin(), trimmers_.end(), [](std::unique_ptr<PoseGraphTrimmer>& trimmer) {
[](std::unique_ptr<mapping::PoseGraphTrimmer>& trimmer) { return trimmer->IsFinished();
return trimmer->IsFinished(); }),
}),
trimmers_.end()); trimmers_.end());
num_nodes_since_last_loop_closure_ = 0; num_nodes_since_last_loop_closure_ = 0;
@ -381,7 +380,7 @@ void PoseGraph::HandleWorkQueue() {
}); });
} }
void PoseGraph::WaitForAllComputations() { void PoseGraph3D::WaitForAllComputations() {
bool notification = false; bool notification = false;
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
const int num_finished_nodes_at_start = const int num_finished_nodes_at_start =
@ -404,8 +403,8 @@ void PoseGraph::WaitForAllComputations() {
} }
std::cout << "\r\x1b[KOptimizing: Done. " << std::endl; std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
[this, [this, &notification](
&notification](const pose_graph::ConstraintBuilder::Result& result) { const mapping_3d::pose_graph::ConstraintBuilder::Result& result) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end()); constraints_.insert(constraints_.end(), result.begin(), result.end());
notification = true; notification = true;
@ -413,7 +412,7 @@ void PoseGraph::WaitForAllComputations() {
locker.Await([&notification]() { return notification; }); locker.Await([&notification]() { return notification; });
} }
void PoseGraph::FinishTrajectory(const int trajectory_id) { void PoseGraph3D::FinishTrajectory(const int trajectory_id) {
AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) { AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) {
CHECK_EQ(finished_trajectories_.count(trajectory_id), 0); CHECK_EQ(finished_trajectories_.count(trajectory_id), 0);
finished_trajectories_.insert(trajectory_id); finished_trajectories_.insert(trajectory_id);
@ -426,11 +425,11 @@ void PoseGraph::FinishTrajectory(const int trajectory_id) {
}); });
} }
bool PoseGraph::IsTrajectoryFinished(const int trajectory_id) { bool PoseGraph3D::IsTrajectoryFinished(const int trajectory_id) {
return finished_trajectories_.count(trajectory_id) > 0; return finished_trajectories_.count(trajectory_id) > 0;
} }
void PoseGraph::FreezeTrajectory(const int trajectory_id) { void PoseGraph3D::FreezeTrajectory(const int trajectory_id) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
trajectory_connectivity_state_.Add(trajectory_id); trajectory_connectivity_state_.Add(trajectory_id);
AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) { AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) {
@ -439,24 +438,24 @@ void PoseGraph::FreezeTrajectory(const int trajectory_id) {
}); });
} }
void PoseGraph::AddSubmapFromProto(const transform::Rigid3d& global_submap_pose, void PoseGraph3D::AddSubmapFromProto(
const mapping::proto::Submap& submap) { const transform::Rigid3d& global_submap_pose, const proto::Submap& submap) {
if (!submap.has_submap_3d()) { if (!submap.has_submap_3d()) {
return; return;
} }
const mapping::SubmapId submap_id = {submap.submap_id().trajectory_id(), const SubmapId submap_id = {submap.submap_id().trajectory_id(),
submap.submap_id().submap_index()}; submap.submap_id().submap_index()};
std::shared_ptr<const Submap> submap_ptr = std::shared_ptr<const mapping_3d::Submap> submap_ptr =
std::make_shared<const Submap>(submap.submap_3d()); std::make_shared<const mapping_3d::Submap>(submap.submap_3d());
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddTrajectoryIfNeeded(submap_id.trajectory_id); AddTrajectoryIfNeeded(submap_id.trajectory_id);
submap_data_.Insert(submap_id, SubmapData()); submap_data_.Insert(submap_id, SubmapData());
submap_data_.at(submap_id).submap = submap_ptr; submap_data_.at(submap_id).submap = submap_ptr;
// Immediately show the submap at the 'global_submap_pose'. // Immediately show the submap at the 'global_submap_pose'.
global_submap_poses_.Insert(submap_id, global_submap_poses_.Insert(
pose_graph::SubmapData{global_submap_pose}); submap_id, mapping_3d::pose_graph::SubmapData{global_submap_pose});
AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) { AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1); CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
submap_data_.at(submap_id).state = SubmapState::kFinished; submap_data_.at(submap_id).state = SubmapState::kFinished;
@ -464,18 +463,16 @@ void PoseGraph::AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
}); });
} }
void PoseGraph::AddNodeFromProto(const transform::Rigid3d& global_pose, void PoseGraph3D::AddNodeFromProto(const transform::Rigid3d& global_pose,
const mapping::proto::Node& node) { const proto::Node& node) {
const mapping::NodeId node_id = {node.node_id().trajectory_id(), const NodeId node_id = {node.node_id().trajectory_id(),
node.node_id().node_index()}; node.node_id().node_index()};
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data = std::shared_ptr<const TrajectoryNode::Data> constant_data =
std::make_shared<const mapping::TrajectoryNode::Data>( std::make_shared<const TrajectoryNode::Data>(FromProto(node.node_data()));
mapping::FromProto(node.node_data()));
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddTrajectoryIfNeeded(node_id.trajectory_id); AddTrajectoryIfNeeded(node_id.trajectory_id);
trajectory_nodes_.Insert(node_id, trajectory_nodes_.Insert(node_id, TrajectoryNode{constant_data, global_pose});
mapping::TrajectoryNode{constant_data, global_pose});
AddWorkItem([this, node_id, global_pose]() REQUIRES(mutex_) { AddWorkItem([this, node_id, global_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(node_id.trajectory_id), 1); CHECK_EQ(frozen_trajectories_.count(node_id.trajectory_id), 1);
@ -485,7 +482,7 @@ void PoseGraph::AddNodeFromProto(const transform::Rigid3d& global_pose,
}); });
} }
void PoseGraph::SetTrajectoryDataFromProto( void PoseGraph3D::SetTrajectoryDataFromProto(
const mapping::proto::TrajectoryData& data) { const mapping::proto::TrajectoryData& data) {
TrajectoryData trajectory_data; TrajectoryData trajectory_data;
trajectory_data.gravity_constant = data.gravity_constant(); trajectory_data.gravity_constant = data.gravity_constant();
@ -504,15 +501,15 @@ void PoseGraph::SetTrajectoryDataFromProto(
}); });
} }
void PoseGraph::AddNodeToSubmap(const mapping::NodeId& node_id, void PoseGraph3D::AddNodeToSubmap(const NodeId& node_id,
const mapping::SubmapId& submap_id) { const SubmapId& submap_id) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([this, node_id, submap_id]() REQUIRES(mutex_) { AddWorkItem([this, node_id, submap_id]() REQUIRES(mutex_) {
submap_data_.at(submap_id).node_ids.insert(node_id); submap_data_.at(submap_id).node_ids.insert(node_id);
}); });
} }
void PoseGraph::AddSerializedConstraints( void PoseGraph3D::AddSerializedConstraints(
const std::vector<Constraint>& constraints) { const std::vector<Constraint>& constraints) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([this, constraints]() REQUIRES(mutex_) { AddWorkItem([this, constraints]() REQUIRES(mutex_) {
@ -537,15 +534,15 @@ void PoseGraph::AddSerializedConstraints(
}); });
} }
void PoseGraph::AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) { void PoseGraph3D::AddTrimmer(std::unique_ptr<PoseGraphTrimmer> trimmer) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
// C++11 does not allow us to move a unique_ptr into a lambda. // C++11 does not allow us to move a unique_ptr into a lambda.
mapping::PoseGraphTrimmer* const trimmer_ptr = trimmer.release(); PoseGraphTrimmer* const trimmer_ptr = trimmer.release();
AddWorkItem([this, trimmer_ptr]() AddWorkItem([this, trimmer_ptr]()
REQUIRES(mutex_) { trimmers_.emplace_back(trimmer_ptr); }); REQUIRES(mutex_) { trimmers_.emplace_back(trimmer_ptr); });
} }
void PoseGraph::RunFinalOptimization() { void PoseGraph3D::RunFinalOptimization() {
{ {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([this]() REQUIRES(mutex_) { AddWorkItem([this]() REQUIRES(mutex_) {
@ -563,7 +560,7 @@ void PoseGraph::RunFinalOptimization() {
WaitForAllComputations(); WaitForAllComputations();
} }
void PoseGraph::LogResidualHistograms() { void PoseGraph3D::LogResidualHistograms() {
common::Histogram rotational_residual; common::Histogram rotational_residual;
common::Histogram translational_residual; common::Histogram translational_residual;
for (const Constraint& constraint : constraints_) { for (const Constraint& constraint : constraints_) {
@ -589,7 +586,7 @@ void PoseGraph::LogResidualHistograms() {
<< rotational_residual.ToString(10); << rotational_residual.ToString(10);
} }
void PoseGraph::RunOptimization() { void PoseGraph3D::RunOptimization() {
if (optimization_problem_.submap_data().empty()) { if (optimization_problem_.submap_data().empty()) {
return; return;
} }
@ -618,7 +615,7 @@ void PoseGraph::RunOptimization() {
const transform::Rigid3d old_global_to_new_global = const transform::Rigid3d old_global_to_new_global =
local_to_new_global * local_to_old_global.inverse(); local_to_new_global * local_to_old_global.inverse();
const mapping::NodeId last_optimized_node_id = const NodeId last_optimized_node_id =
std::prev(node_data.EndOfTrajectory(trajectory_id))->id; std::prev(node_data.EndOfTrajectory(trajectory_id))->id;
auto node_it = std::next(trajectory_nodes_.find(last_optimized_node_id)); auto node_it = std::next(trajectory_nodes_.find(last_optimized_node_id));
for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id); for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id);
@ -639,26 +636,24 @@ void PoseGraph::RunOptimization() {
} }
} }
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode> MapById<NodeId, TrajectoryNode> PoseGraph3D::GetTrajectoryNodes() {
PoseGraph::GetTrajectoryNodes() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return trajectory_nodes_; return trajectory_nodes_;
} }
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose> MapById<NodeId, TrajectoryNodePose> PoseGraph3D::GetTrajectoryNodePoses() {
PoseGraph::GetTrajectoryNodePoses() { MapById<NodeId, TrajectoryNodePose> node_poses;
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose> node_poses;
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
for (const auto& node_id_data : trajectory_nodes_) { for (const auto& node_id_data : trajectory_nodes_) {
node_poses.Insert( node_poses.Insert(
node_id_data.id, node_id_data.id,
mapping::TrajectoryNodePose{node_id_data.data.constant_data != nullptr, TrajectoryNodePose{node_id_data.data.constant_data != nullptr,
node_id_data.data.global_pose}); node_id_data.data.global_pose});
} }
return node_poses; return node_poses;
} }
std::map<std::string, transform::Rigid3d> PoseGraph::GetLandmarkPoses() { std::map<std::string, transform::Rigid3d> PoseGraph3D::GetLandmarkPoses() {
std::map<std::string, transform::Rigid3d> landmark_poses; std::map<std::string, transform::Rigid3d> landmark_poses;
for (const auto& landmark : landmark_nodes_) { for (const auto& landmark : landmark_nodes_) {
// Landmark without value has not been optimized yet. // Landmark without value has not been optimized yet.
@ -669,43 +664,43 @@ std::map<std::string, transform::Rigid3d> PoseGraph::GetLandmarkPoses() {
return landmark_poses; return landmark_poses;
} }
sensor::MapByTime<sensor::ImuData> PoseGraph::GetImuData() { sensor::MapByTime<sensor::ImuData> PoseGraph3D::GetImuData() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return optimization_problem_.imu_data(); return optimization_problem_.imu_data();
} }
sensor::MapByTime<sensor::OdometryData> PoseGraph::GetOdometryData() { sensor::MapByTime<sensor::OdometryData> PoseGraph3D::GetOdometryData() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return optimization_problem_.odometry_data(); return optimization_problem_.odometry_data();
} }
sensor::MapByTime<sensor::FixedFramePoseData> sensor::MapByTime<sensor::FixedFramePoseData>
PoseGraph::GetFixedFramePoseData() { PoseGraph3D::GetFixedFramePoseData() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return optimization_problem_.fixed_frame_pose_data(); return optimization_problem_.fixed_frame_pose_data();
} }
std::map<int, mapping::PoseGraphInterface::TrajectoryData> std::map<int, mapping::PoseGraphInterface::TrajectoryData>
PoseGraph::GetTrajectoryData() { PoseGraph3D::GetTrajectoryData() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return optimization_problem_.trajectory_data(); return optimization_problem_.trajectory_data();
} }
std::vector<PoseGraph::Constraint> PoseGraph::constraints() { std::vector<PoseGraph::Constraint> PoseGraph3D::constraints() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return constraints_; return constraints_;
} }
void PoseGraph::SetInitialTrajectoryPose(const int from_trajectory_id, void PoseGraph3D::SetInitialTrajectoryPose(const int from_trajectory_id,
const int to_trajectory_id, const int to_trajectory_id,
const transform::Rigid3d& pose, const transform::Rigid3d& pose,
const common::Time time) { const common::Time time) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
initial_trajectory_poses_[from_trajectory_id] = initial_trajectory_poses_[from_trajectory_id] =
InitialTrajectoryPose{to_trajectory_id, pose, time}; InitialTrajectoryPose{to_trajectory_id, pose, time};
} }
transform::Rigid3d PoseGraph::GetInterpolatedGlobalTrajectoryPose( transform::Rigid3d PoseGraph3D::GetInterpolatedGlobalTrajectoryPose(
const int trajectory_id, const common::Time time) const { const int trajectory_id, const common::Time time) const {
CHECK(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id) > 0); CHECK(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id) > 0);
const auto it = trajectory_nodes_.lower_bound(trajectory_id, time); const auto it = trajectory_nodes_.lower_bound(trajectory_id, time);
@ -725,27 +720,25 @@ transform::Rigid3d PoseGraph::GetInterpolatedGlobalTrajectoryPose(
.transform; .transform;
} }
transform::Rigid3d PoseGraph::GetLocalToGlobalTransform( transform::Rigid3d PoseGraph3D::GetLocalToGlobalTransform(
const int trajectory_id) { const int trajectory_id) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return ComputeLocalToGlobalTransform(global_submap_poses_, trajectory_id); return ComputeLocalToGlobalTransform(global_submap_poses_, trajectory_id);
} }
std::vector<std::vector<int>> PoseGraph::GetConnectedTrajectories() { std::vector<std::vector<int>> PoseGraph3D::GetConnectedTrajectories() {
return trajectory_connectivity_state_.Components(); return trajectory_connectivity_state_.Components();
} }
mapping::PoseGraph::SubmapData PoseGraph::GetSubmapData( PoseGraph::SubmapData PoseGraph3D::GetSubmapData(const SubmapId& submap_id) {
const mapping::SubmapId& submap_id) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
return GetSubmapDataUnderLock(submap_id); return GetSubmapDataUnderLock(submap_id);
} }
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapData> MapById<SubmapId, PoseGraphInterface::SubmapData>
PoseGraph::GetAllSubmapData() { PoseGraph3D::GetAllSubmapData() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapData> MapById<SubmapId, PoseGraphInterface::SubmapData> submaps;
submaps;
for (const auto& submap_id_data : submap_data_) { for (const auto& submap_id_data : submap_data_) {
submaps.Insert(submap_id_data.id, submaps.Insert(submap_id_data.id,
GetSubmapDataUnderLock(submap_id_data.id)); GetSubmapDataUnderLock(submap_id_data.id));
@ -753,22 +746,22 @@ PoseGraph::GetAllSubmapData() {
return submaps; return submaps;
} }
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapPose> MapById<SubmapId, PoseGraphInterface::SubmapPose>
PoseGraph::GetAllSubmapPoses() { PoseGraph3D::GetAllSubmapPoses() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
mapping::MapById<mapping::SubmapId, SubmapPose> submap_poses; MapById<SubmapId, SubmapPose> submap_poses;
for (const auto& submap_id_data : submap_data_) { for (const auto& submap_id_data : submap_data_) {
auto submap_data = GetSubmapDataUnderLock(submap_id_data.id); auto submap_data = GetSubmapDataUnderLock(submap_id_data.id);
submap_poses.Insert( submap_poses.Insert(
submap_id_data.id, submap_id_data.id,
mapping::PoseGraph::SubmapPose{submap_data.submap->num_range_data(), PoseGraph::SubmapPose{submap_data.submap->num_range_data(),
submap_data.pose}); submap_data.pose});
} }
return submap_poses; return submap_poses;
} }
transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform( transform::Rigid3d PoseGraph3D::ComputeLocalToGlobalTransform(
const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>& const MapById<SubmapId, mapping_3d::pose_graph::SubmapData>&
global_submap_poses, global_submap_poses,
const int trajectory_id) const { const int trajectory_id) const {
auto begin_it = global_submap_poses.BeginOfTrajectory(trajectory_id); auto begin_it = global_submap_poses.BeginOfTrajectory(trajectory_id);
@ -783,7 +776,7 @@ transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform(
return transform::Rigid3d::Identity(); return transform::Rigid3d::Identity();
} }
} }
const mapping::SubmapId last_optimized_submap_id = std::prev(end_it)->id; const SubmapId last_optimized_submap_id = std::prev(end_it)->id;
// Accessing 'local_pose' in Submap is okay, since the member is const. // Accessing 'local_pose' in Submap is okay, since the member is const.
return global_submap_poses.at(last_optimized_submap_id).global_pose * return global_submap_poses.at(last_optimized_submap_id).global_pose *
submap_data_.at(last_optimized_submap_id) submap_data_.at(last_optimized_submap_id)
@ -791,8 +784,8 @@ transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform(
.inverse(); .inverse();
} }
mapping::PoseGraph::SubmapData PoseGraph::GetSubmapDataUnderLock( PoseGraph::SubmapData PoseGraph3D::GetSubmapDataUnderLock(
const mapping::SubmapId& submap_id) { const SubmapId& submap_id) {
const auto it = submap_data_.find(submap_id); const auto it = submap_data_.find(submap_id);
if (it == submap_data_.end()) { if (it == submap_data_.end()) {
return {}; return {};
@ -808,27 +801,27 @@ mapping::PoseGraph::SubmapData PoseGraph::GetSubmapDataUnderLock(
submap->local_pose()}; submap->local_pose()};
} }
PoseGraph::TrimmingHandle::TrimmingHandle(PoseGraph* const parent) PoseGraph3D::TrimmingHandle::TrimmingHandle(PoseGraph3D* const parent)
: parent_(parent) {} : parent_(parent) {}
int PoseGraph::TrimmingHandle::num_submaps(const int trajectory_id) const { int PoseGraph3D::TrimmingHandle::num_submaps(const int trajectory_id) const {
const auto& submap_data = parent_->optimization_problem_.submap_data(); const auto& submap_data = parent_->optimization_problem_.submap_data();
return submap_data.SizeOfTrajectoryOrZero(trajectory_id); return submap_data.SizeOfTrajectoryOrZero(trajectory_id);
} }
bool PoseGraph::TrimmingHandle::IsFinished(const int trajectory_id) const { bool PoseGraph3D::TrimmingHandle::IsFinished(const int trajectory_id) const {
return parent_->IsTrajectoryFinished(trajectory_id); return parent_->IsTrajectoryFinished(trajectory_id);
} }
void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed( void PoseGraph3D::TrimmingHandle::MarkSubmapAsTrimmed(
const mapping::SubmapId& submap_id) { const SubmapId& submap_id) {
// TODO(hrapp): We have to make sure that the trajectory has been finished // TODO(hrapp): We have to make sure that the trajectory has been finished
// if we want to delete the last submaps. // if we want to delete the last submaps.
CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished); CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished);
// Compile all nodes that are still INTRA_SUBMAP constrained once the submap // Compile all nodes that are still INTRA_SUBMAP constrained once the submap
// with 'submap_id' is gone. // with 'submap_id' is gone.
std::set<mapping::NodeId> nodes_to_retain; std::set<NodeId> nodes_to_retain;
for (const Constraint& constraint : parent_->constraints_) { for (const Constraint& constraint : parent_->constraints_) {
if (constraint.tag == Constraint::Tag::INTRA_SUBMAP && if (constraint.tag == Constraint::Tag::INTRA_SUBMAP &&
constraint.submap_id != submap_id) { constraint.submap_id != submap_id) {
@ -836,7 +829,7 @@ void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
} }
} }
// Remove all 'constraints_' related to 'submap_id'. // Remove all 'constraints_' related to 'submap_id'.
std::set<mapping::NodeId> nodes_to_remove; std::set<NodeId> nodes_to_remove;
{ {
std::vector<Constraint> constraints; std::vector<Constraint> constraints;
for (const Constraint& constraint : parent_->constraints_) { for (const Constraint& constraint : parent_->constraints_) {
@ -872,11 +865,11 @@ void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
// Remove the 'nodes_to_remove' from the pose graph and the optimization // Remove the 'nodes_to_remove' from the pose graph and the optimization
// problem. // problem.
for (const mapping::NodeId& node_id : nodes_to_remove) { for (const NodeId& node_id : nodes_to_remove) {
parent_->trajectory_nodes_.Trim(node_id); parent_->trajectory_nodes_.Trim(node_id);
parent_->optimization_problem_.TrimTrajectoryNode(node_id); parent_->optimization_problem_.TrimTrajectoryNode(node_id);
} }
} }
} // namespace mapping_3d } // namespace mapping
} // namespace cartographer } // namespace cartographer

115
cartographer/mapping_3d/pose_graph.h → cartographer/mapping_3d/pose_graph_3d.h
View File

@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_H_ #ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_3D_H_
#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_H_ #define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_3D_H_
#include <deque> #include <deque>
#include <functional> #include <functional>
@ -45,7 +45,7 @@
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping {
// Implements the loop closure method called Sparse Pose Adjustment (SPA) from // Implements the loop closure method called Sparse Pose Adjustment (SPA) from
// Konolige, Kurt, et al. "Efficient sparse pose adjustment for 2d mapping." // Konolige, Kurt, et al. "Efficient sparse pose adjustment for 2d mapping."
@ -56,25 +56,24 @@ namespace mapping_3d {
// Each node has been matched against one or more submaps (adding a constraint // Each node has been matched against one or more submaps (adding a constraint
// for each match), both poses of nodes and of submaps are to be optimized. // for each match), both poses of nodes and of submaps are to be optimized.
// All constraints are between a submap i and a node j. // All constraints are between a submap i and a node j.
class PoseGraph : public mapping::PoseGraph { class PoseGraph3D : public PoseGraph {
public: public:
PoseGraph(const mapping::proto::PoseGraphOptions& options, PoseGraph3D(const proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool); common::ThreadPool* thread_pool);
~PoseGraph() override; ~PoseGraph3D() override;
PoseGraph(const PoseGraph&) = delete; PoseGraph3D(const PoseGraph3D&) = delete;
PoseGraph& operator=(const PoseGraph&) = delete; PoseGraph3D& operator=(const PoseGraph3D&) = delete;
// Adds a new node with 'constant_data'. Its 'constant_data->local_pose' was // Adds a new node with 'constant_data'. Its 'constant_data->local_pose' was
// determined by scan matching against 'insertion_submaps.front()' and the // determined by scan matching against 'insertion_submaps.front()' and the
// node data was inserted into the 'insertion_submaps'. If // node data was inserted into the 'insertion_submaps'. If
// 'insertion_submaps.front().finished()' is 'true', data was inserted into // 'insertion_submaps.front().finished()' is 'true', data was inserted into
// this submap for the last time. // this submap for the last time.
mapping::NodeId AddNode( NodeId AddNode(std::shared_ptr<const TrajectoryNode::Data> constant_data,
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data, int trajectory_id,
int trajectory_id, const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) insertion_submaps) EXCLUDES(mutex_);
EXCLUDES(mutex_);
void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override
EXCLUDES(mutex_); EXCLUDES(mutex_);
@ -93,30 +92,28 @@ class PoseGraph : public mapping::PoseGraph {
bool IsTrajectoryFinished(int trajectory_id) override; bool IsTrajectoryFinished(int trajectory_id) override;
void FreezeTrajectory(int trajectory_id) override; void FreezeTrajectory(int trajectory_id) override;
void AddSubmapFromProto(const transform::Rigid3d& global_submap_pose, void AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
const mapping::proto::Submap& submap) override; const proto::Submap& submap) override;
void AddNodeFromProto(const transform::Rigid3d& global_pose, void AddNodeFromProto(const transform::Rigid3d& global_pose,
const mapping::proto::Node& node) override; const mapping::proto::Node& node) override;
void SetTrajectoryDataFromProto( void SetTrajectoryDataFromProto(const proto::TrajectoryData& data) override;
const mapping::proto::TrajectoryData& data) override;
void AddNodeToSubmap(const mapping::NodeId& node_id, void AddNodeToSubmap(const mapping::NodeId& node_id,
const mapping::SubmapId& submap_id) override; const mapping::SubmapId& submap_id) override;
void AddSerializedConstraints( void AddSerializedConstraints(
const std::vector<Constraint>& constraints) override; const std::vector<Constraint>& constraints) override;
void AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) override; void AddTrimmer(std::unique_ptr<PoseGraphTrimmer> trimmer) override;
void RunFinalOptimization() override; void RunFinalOptimization() override;
std::vector<std::vector<int>> GetConnectedTrajectories() override; std::vector<std::vector<int>> GetConnectedTrajectories() override;
mapping::PoseGraph::SubmapData GetSubmapData( PoseGraph::SubmapData GetSubmapData(const SubmapId& submap_id)
const mapping::SubmapId& submap_id) EXCLUDES(mutex_) override;
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapData>
GetAllSubmapData() EXCLUDES(mutex_) override;
mapping::MapById<mapping::SubmapId, SubmapPose> GetAllSubmapPoses()
EXCLUDES(mutex_) override; EXCLUDES(mutex_) override;
MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
EXCLUDES(mutex_) override;
MapById<SubmapId, SubmapPose> GetAllSubmapPoses() EXCLUDES(mutex_) override;
transform::Rigid3d GetLocalToGlobalTransform(int trajectory_id) transform::Rigid3d GetLocalToGlobalTransform(int trajectory_id)
EXCLUDES(mutex_) override; EXCLUDES(mutex_) override;
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode> MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() override
GetTrajectoryNodes() override EXCLUDES(mutex_); EXCLUDES(mutex_);
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose> MapById<NodeId, TrajectoryNodePose> GetTrajectoryNodePoses() override
GetTrajectoryNodePoses() override EXCLUDES(mutex_); EXCLUDES(mutex_);
std::map<std::string, transform::Rigid3d> GetLandmarkPoses() override std::map<std::string, transform::Rigid3d> GetLandmarkPoses() override
EXCLUDES(mutex_); EXCLUDES(mutex_);
sensor::MapByTime<sensor::ImuData> GetImuData() override EXCLUDES(mutex_); sensor::MapByTime<sensor::ImuData> GetImuData() override EXCLUDES(mutex_);
@ -140,12 +137,12 @@ class PoseGraph : public mapping::PoseGraph {
// Likewise, all new nodes are matched against submaps which are finished. // Likewise, all new nodes are matched against submaps which are finished.
enum class SubmapState { kActive, kFinished }; enum class SubmapState { kActive, kFinished };
struct SubmapData { struct SubmapData {
std::shared_ptr<const Submap> submap; std::shared_ptr<const mapping_3d::Submap> submap;
// IDs of the nodes that were inserted into this map together with // IDs of the nodes that were inserted into this map together with
// constraints for them. They are not to be matched again when this submap // constraints for them. They are not to be matched again when this submap
// becomes 'finished'. // becomes 'finished'.
std::set<mapping::NodeId> node_ids; std::set<NodeId> node_ids;
SubmapState state = SubmapState::kActive; SubmapState state = SubmapState::kActive;
}; };
@ -158,23 +155,23 @@ class PoseGraph : public mapping::PoseGraph {
// Grows the optimization problem to have an entry for every element of // Grows the optimization problem to have an entry for every element of
// 'insertion_submaps'. Returns the IDs for the 'insertion_submaps'. // 'insertion_submaps'. Returns the IDs for the 'insertion_submaps'.
std::vector<mapping::SubmapId> InitializeGlobalSubmapPoses( std::vector<SubmapId> InitializeGlobalSubmapPoses(
int trajectory_id, const common::Time time, int trajectory_id, const common::Time time,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) const std::vector<std::shared_ptr<const mapping_3d::Submap>>&
REQUIRES(mutex_); insertion_submaps) REQUIRES(mutex_);
// Adds constraints for a node, and starts scan matching in the background. // Adds constraints for a node, and starts scan matching in the background.
void ComputeConstraintsForNode( void ComputeConstraintsForNode(
const mapping::NodeId& node_id, const NodeId& node_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps, std::vector<std::shared_ptr<const mapping_3d::Submap>> insertion_submaps,
bool newly_finished_submap) REQUIRES(mutex_); bool newly_finished_submap) REQUIRES(mutex_);
// Computes constraints for a node and submap pair. // Computes constraints for a node and submap pair.
void ComputeConstraint(const mapping::NodeId& node_id, void ComputeConstraint(const NodeId& node_id, const SubmapId& submap_id)
const mapping::SubmapId& submap_id) REQUIRES(mutex_); REQUIRES(mutex_);
// Adds constraints for older nodes whenever a new submap is finished. // Adds constraints for older nodes whenever a new submap is finished.
void ComputeConstraintsForOldNodes(const mapping::SubmapId& submap_id) void ComputeConstraintsForOldNodes(const SubmapId& submap_id)
REQUIRES(mutex_); REQUIRES(mutex_);
// Registers the callback to run the optimization once all constraints have // Registers the callback to run the optimization once all constraints have
@ -192,15 +189,15 @@ class PoseGraph : public mapping::PoseGraph {
// Computes the local to global map frame transform based on the given // Computes the local to global map frame transform based on the given
// 'global_submap_poses'. // 'global_submap_poses'.
transform::Rigid3d ComputeLocalToGlobalTransform( transform::Rigid3d ComputeLocalToGlobalTransform(
const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>& const MapById<SubmapId, mapping_3d::pose_graph::SubmapData>&
global_submap_poses, global_submap_poses,
int trajectory_id) const REQUIRES(mutex_); int trajectory_id) const REQUIRES(mutex_);
mapping::PoseGraph::SubmapData GetSubmapDataUnderLock( PoseGraph::SubmapData GetSubmapDataUnderLock(const SubmapId& submap_id)
const mapping::SubmapId& submap_id) REQUIRES(mutex_); REQUIRES(mutex_);
common::Time GetLatestNodeTime(const mapping::NodeId& node_id, common::Time GetLatestNodeTime(const NodeId& node_id,
const mapping::SubmapId& submap_id) const const SubmapId& submap_id) const
REQUIRES(mutex_); REQUIRES(mutex_);
// Logs histograms for the translational and rotational residual of node // Logs histograms for the translational and rotational residual of node
@ -211,7 +208,7 @@ class PoseGraph : public mapping::PoseGraph {
void UpdateTrajectoryConnectivity(const Constraint& constraint) void UpdateTrajectoryConnectivity(const Constraint& constraint)
REQUIRES(mutex_); REQUIRES(mutex_);
const mapping::proto::PoseGraphOptions options_; const proto::PoseGraphOptions options_;
common::Mutex mutex_; common::Mutex mutex_;
// If it exists, further work items must be added to this queue, and will be // If it exists, further work items must be added to this queue, and will be
@ -220,7 +217,7 @@ class PoseGraph : public mapping::PoseGraph {
GUARDED_BY(mutex_); GUARDED_BY(mutex_);
// How our various trajectories are related. // How our various trajectories are related.
mapping::TrajectoryConnectivityState trajectory_connectivity_state_; TrajectoryConnectivityState trajectory_connectivity_state_;
// We globally localize a fraction of the nodes from each trajectory. // We globally localize a fraction of the nodes from each trajectory.
std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>> std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>>
@ -236,31 +233,29 @@ class PoseGraph : public mapping::PoseGraph {
void DispatchOptimization() REQUIRES(mutex_); void DispatchOptimization() REQUIRES(mutex_);
// Current optimization problem. // Current optimization problem.
pose_graph::OptimizationProblem optimization_problem_; mapping_3d::pose_graph::OptimizationProblem optimization_problem_;
pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_); mapping_3d::pose_graph::ConstraintBuilder constraint_builder_
GUARDED_BY(mutex_);
std::vector<Constraint> constraints_ GUARDED_BY(mutex_); std::vector<Constraint> constraints_ GUARDED_BY(mutex_);
// Submaps get assigned an ID and state as soon as they are seen, even // Submaps get assigned an ID and state as soon as they are seen, even
// before they take part in the background computations. // before they take part in the background computations.
mapping::MapById<mapping::SubmapId, SubmapData> submap_data_ MapById<SubmapId, SubmapData> submap_data_ GUARDED_BY(mutex_);
GUARDED_BY(mutex_);
// Data that are currently being shown. // Data that are currently being shown.
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode> trajectory_nodes_ MapById<NodeId, TrajectoryNode> trajectory_nodes_ GUARDED_BY(mutex_);
GUARDED_BY(mutex_);
int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0; int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0;
// Global submap poses currently used for displaying data. // Global submap poses currently used for displaying data.
mapping::MapById<mapping::SubmapId, pose_graph::SubmapData> MapById<SubmapId, mapping_3d::pose_graph::SubmapData> global_submap_poses_
global_submap_poses_ GUARDED_BY(mutex_); GUARDED_BY(mutex_);
// Global landmark poses with all observations. // Global landmark poses with all observations.
std::map<std::string /* landmark ID */, PoseGraph::LandmarkNode> std::map<std::string /* landmark ID */, PoseGraph::LandmarkNode>
landmark_nodes_ GUARDED_BY(mutex_); landmark_nodes_ GUARDED_BY(mutex_);
// List of all trimmers to consult when optimizations finish. // List of all trimmers to consult when optimizations finish.
std::vector<std::unique_ptr<mapping::PoseGraphTrimmer>> trimmers_ std::vector<std::unique_ptr<PoseGraphTrimmer>> trimmers_ GUARDED_BY(mutex_);
GUARDED_BY(mutex_);
// Set of all frozen trajectories not being optimized. // Set of all frozen trajectories not being optimized.
std::set<int> frozen_trajectories_ GUARDED_BY(mutex_); std::set<int> frozen_trajectories_ GUARDED_BY(mutex_);
@ -274,22 +269,22 @@ class PoseGraph : public mapping::PoseGraph {
// Allows querying and manipulating the pose graph by the 'trimmers_'. The // Allows querying and manipulating the pose graph by the 'trimmers_'. The
// 'mutex_' of the pose graph is held while this class is used. // 'mutex_' of the pose graph is held while this class is used.
class TrimmingHandle : public mapping::Trimmable { class TrimmingHandle : public Trimmable {
public: public:
TrimmingHandle(PoseGraph* parent); TrimmingHandle(PoseGraph3D* parent);
~TrimmingHandle() override {} ~TrimmingHandle() override {}
int num_submaps(int trajectory_id) const override; int num_submaps(int trajectory_id) const override;
void MarkSubmapAsTrimmed(const mapping::SubmapId& submap_id) void MarkSubmapAsTrimmed(const SubmapId& submap_id)
REQUIRES(parent_->mutex_) override; REQUIRES(parent_->mutex_) override;
bool IsFinished(int trajectory_id) const override; bool IsFinished(int trajectory_id) const override;
private: private:
PoseGraph* const parent_; PoseGraph3D* const parent_;
}; };
}; };
} // namespace mapping_3d } // namespace mapping
} // namespace cartographer } // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_H_ #endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_3D_H_