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[GenericPoseGraph] Add a macro to find nodes. (#1382)

master
Alexander Belyaev 2018-08-10 18:55:43 +02:00 committed by GitHub
parent 3877f97b23
commit b6b41e9b17
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 46 additions and 100 deletions
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32
cartographer/pose_graph/constraint/acceleration_constraint_3d.cc
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@ -36,29 +36,15 @@ AccelerationConstraint3D::AccelerationConstraint3D(
void AccelerationConstraint3D::AddToOptimizer(Nodes* nodes, void AccelerationConstraint3D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
auto first_node = common::FindOrNull(nodes->pose_3d_nodes, first_); FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
if (first_node == nullptr) { "First node was not found in pose_3d_nodes.");
LOG(INFO) << "First node was not found in pose_3d_nodes."; FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,
return; "Second node was not found in pose_3d_nodes.");
} FIND_NODE_OR_RETURN(third_node, third_, nodes->pose_3d_nodes,
"Third node was not found in pose_3d_nodes.");
auto second_node = common::FindOrNull(nodes->pose_3d_nodes, second_); FIND_NODE_OR_RETURN(
if (second_node == nullptr) { imu_node, imu_, nodes->imu_calibration_nodes,
LOG(INFO) << "Second node was not found in pose_3d_nodes."; "IMU calibration node was not found in imu_calibration_nodes.");
return;
}
auto third_node = common::FindOrNull(nodes->pose_3d_nodes, third_);
if (third_node == nullptr) {
LOG(INFO) << "Third node was not found in pose_3d_nodes.";
return;
}
auto imu_node = common::FindOrNull(nodes->imu_calibration_nodes, imu_);
if (imu_node == nullptr) {
LOG(INFO) << "IMU calibration node was not found in imu_calibration_nodes.";
return;
}
if (first_node->constant() && second_node->constant() && if (first_node->constant() && second_node->constant() &&
third_node->constant() && imu_node->constant()) { third_node->constant() && imu_node->constant()) {

7
cartographer/pose_graph/constraint/constraint_utils.h
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@ -31,6 +31,13 @@ void AddPose3D(Pose3D* pose, ceres::Problem* problem);
void AddImuCalibration(ImuCalibration* pose, ceres::Problem* problem); void AddImuCalibration(ImuCalibration* pose, ceres::Problem* problem);
#define FIND_NODE_OR_RETURN(node_name, node_id, map, log_message) \
auto node_name = common::FindOrNull(map, node_id); \
if (node_name == nullptr) { \
LOG(INFO) << log_message; \
return; \
}
} // namespace pose_graph } // namespace pose_graph
} // namespace cartographer } // namespace cartographer

24
cartographer/pose_graph/constraint/interpolated_relative_pose_constraint_2d.cc
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@ -35,24 +35,12 @@ InterpolatedRelativePoseConstraint2D::InterpolatedRelativePoseConstraint2D(
void InterpolatedRelativePoseConstraint2D::AddToOptimizer( void InterpolatedRelativePoseConstraint2D::AddToOptimizer(
Nodes* nodes, ceres::Problem* problem) const { Nodes* nodes, ceres::Problem* problem) const {
auto first_node_start = FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_2d_nodes,
common::FindOrNull(nodes->pose_2d_nodes, first_start_); "First node (start) was not found in pose_2d_nodes.");
if (first_node_start == nullptr) { FIND_NODE_OR_RETURN(first_node_end, first_end_, nodes->pose_2d_nodes,
LOG(INFO) << "First node (start) was not found in pose_2d_nodes."; "First node (end) was not found in pose_2d_nodes.");
return; FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,
} "Second node was not found in pose_3d_nodes.");
auto first_node_end = common::FindOrNull(nodes->pose_2d_nodes, first_end_);
if (first_node_end == nullptr) {
LOG(INFO) << "First node (end) was not found in pose_2d_nodes.";
return;
}
auto second_node = common::FindOrNull(nodes->pose_3d_nodes, second_);
if (second_node == nullptr) {
LOG(INFO) << "Second node was not found in pose_3d_nodes.";
return;
}
if (first_node_start->constant() && first_node_end->constant() && if (first_node_start->constant() && first_node_end->constant() &&
second_node->constant()) { second_node->constant()) {

24
cartographer/pose_graph/constraint/interpolated_relative_pose_constraint_3d.cc
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@ -35,24 +35,12 @@ InterpolatedRelativePoseConstraint3D::InterpolatedRelativePoseConstraint3D(
void InterpolatedRelativePoseConstraint3D::AddToOptimizer( void InterpolatedRelativePoseConstraint3D::AddToOptimizer(
Nodes* nodes, ceres::Problem* problem) const { Nodes* nodes, ceres::Problem* problem) const {
auto first_node_start = FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_3d_nodes,
common::FindOrNull(nodes->pose_3d_nodes, first_start_); "First node (start) was not found in pose_3d_nodes.");
if (first_node_start == nullptr) { FIND_NODE_OR_RETURN(first_node_end, first_end_, nodes->pose_3d_nodes,
LOG(INFO) << "First node (start) was not found in pose_3d_nodes."; "First node (end) was not found in pose_3d_nodes.");
return; FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,
} "Second node was not found in pose_3d_nodes.");
auto first_node_end = common::FindOrNull(nodes->pose_3d_nodes, first_end_);
if (first_node_end == nullptr) {
LOG(INFO) << "First node (end) was not found in pose_3d_nodes.";
return;
}
auto second_node = common::FindOrNull(nodes->pose_3d_nodes, second_);
if (second_node == nullptr) {
LOG(INFO) << "Second node was not found in pose_3d_nodes.";
return;
}
if (first_node_start->constant() && first_node_end->constant() && if (first_node_start->constant() && first_node_end->constant() &&
second_node->constant()) { second_node->constant()) {

15
cartographer/pose_graph/constraint/relative_pose_constraint_2d.cc
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@ -34,17 +34,10 @@ RelativePoseConstraint2D::RelativePoseConstraint2D(
// TODO(pifon): Add a test. // TODO(pifon): Add a test.
void RelativePoseConstraint2D::AddToOptimizer(Nodes* nodes, void RelativePoseConstraint2D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
auto first_node = common::FindOrNull(nodes->pose_2d_nodes, first_); FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_2d_nodes,
if (first_node == nullptr) { "First node was not found in pose_2d_nodes.");
LOG(INFO) << "First node was not found in pose_2d_nodes."; FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_2d_nodes,
return; "Second node was not found in pose_2d_nodes.");
}
auto second_node = common::FindOrNull(nodes->pose_2d_nodes, second_);
if (second_node == nullptr) {
LOG(INFO) << "Second node was not found in pose_2d_nodes.";
return;
}
if (first_node->constant() && second_node->constant()) { if (first_node->constant() && second_node->constant()) {
LOG(INFO) << "Both nodes are constant, skipping the constraint."; LOG(INFO) << "Both nodes are constant, skipping the constraint.";

15
cartographer/pose_graph/constraint/relative_pose_constraint_3d.cc
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@ -34,17 +34,10 @@ RelativePoseConstraint3D::RelativePoseConstraint3D(
void RelativePoseConstraint3D::AddToOptimizer(Nodes* nodes, void RelativePoseConstraint3D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
auto first_node = common::FindOrNull(nodes->pose_3d_nodes, first_); FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
if (first_node == nullptr) { "First node was not found in pose_3d_nodes.");
LOG(INFO) << "First node was not found in pose_3d_nodes."; FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,
return; "Second node was not found in pose_3d_nodes.");
}
auto second_node = common::FindOrNull(nodes->pose_3d_nodes, second_);
if (second_node == nullptr) {
LOG(INFO) << "Second node was not found in pose_3d_nodes.";
return;
}
if (first_node->constant() && second_node->constant()) { if (first_node->constant() && second_node->constant()) {
LOG(INFO) << "Both nodes are constant, skipping the constraint."; LOG(INFO) << "Both nodes are constant, skipping the constraint.";

29
cartographer/pose_graph/constraint/rotation_constraint_3d.cc
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@ -17,6 +17,8 @@
#include "cartographer/pose_graph/constraint/rotation_constraint_3d.h" #include "cartographer/pose_graph/constraint/rotation_constraint_3d.h"
#include "absl/memory/memory.h" #include "absl/memory/memory.h"
#include "cartographer/pose_graph/constraint/constraint_utils.h"
#include "cartographer/common/utils.h" #include "cartographer/common/utils.h"
namespace cartographer { namespace cartographer {
@ -53,30 +55,19 @@ RotationContraint3D::RotationContraint3D(
void RotationContraint3D::AddToOptimizer(Nodes* nodes, void RotationContraint3D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
auto first_node = common::FindOrNull(nodes->pose_3d_nodes, first_); FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
if (first_node == nullptr) { "First node was not found in pose_3d_nodes.");
LOG(INFO) << "First node was not found in pose_3d_nodes."; FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,
return; "Second node was not found in pose_3d_nodes.");
} FIND_NODE_OR_RETURN(imu_node, imu_calibration_, nodes->imu_calibration_nodes,
"Imu calibration node was not found.");
auto second_node = common::FindOrNull(nodes->pose_3d_nodes, second_); if (first_node->constant() && second_node->constant() &&
if (second_node == nullptr) { imu_node->constant()) {
LOG(INFO) << "Second node was not found in pose_3d_nodes.";
return;
}
if (first_node->constant() && second_node->constant()) {
LOG(INFO) << "Both nodes are constant, skipping the constraint."; LOG(INFO) << "Both nodes are constant, skipping the constraint.";
return; return;
} }
auto imu_node =
common::FindOrNull(nodes->imu_calibration_nodes, imu_calibration_);
if (imu_node == nullptr) {
LOG(INFO) << "Imu calibration node was not found.";
return;
}
AddRotation3D(first_node, problem); AddRotation3D(first_node, problem);
AddRotation3D(second_node, problem); AddRotation3D(second_node, problem);
AddImuOrientation(imu_node, problem); AddImuOrientation(imu_node, problem);