[GenericPoseGraph] Add relative pose constraint 3d. (#1309)

cartographer/pose_graph/constraint/relative_pose_constraint_3d.cc

@@ -0,0 +1,86 @@
+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer/pose_graph/constraint/relative_pose_constraint_3d.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/common/utils.h"
+
+namespace cartographer {
+namespace pose_graph {
+namespace {
+
+void AddPoseParameters(Pose3D* pose, ceres::Problem* problem) {
+  auto transation = pose->mutable_translation();
+  auto rotation = pose->mutable_rotation();
+  problem->AddParameterBlock(transation->data(), transation->size());
+  problem->AddParameterBlock(rotation->data(), rotation->size());
+  if (pose->constant()) {
+    problem->SetParameterBlockConstant(transation->data());
+    problem->SetParameterBlockConstant(rotation->data());
+  }
+}
+
+}  // namespace
+
+RelativePoseConstraint3D::RelativePoseConstraint3D(
+    const ConstraintId& id, const proto::LossFunction& loss_function_proto,
+    const proto::RelativePose3D& proto)
+    : Constraint(id, loss_function_proto),
+      first_(proto.first()),
+      second_(proto.second()),
+      cost_(new RelativePoseCost3D(proto.parameters())),
+      ceres_cost_(common::make_unique<AutoDiffFunction>(cost_)) {}
+
+void RelativePoseConstraint3D::AddToOptimizer(Nodes* nodes,
+                                              ceres::Problem* problem) const {
+  auto first_node = common::FindOrNull(nodes->pose_3d_nodes, first_);
+  if (first_node == nullptr) {
+    LOG(INFO) << "First node 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->constant() && second_node->constant()) {
+    LOG(INFO) << "Both nodes are constant, skipping the constraint.";
+    return;
+  }
+
+  AddPoseParameters(first_node, problem);
+  AddPoseParameters(second_node, problem);
+  problem->AddResidualBlock(ceres_cost_.get(), nullptr /* loss function */,
+                            first_node->mutable_translation()->data(),
+                            first_node->mutable_rotation()->data(),
+                            second_node->mutable_translation()->data(),
+                            second_node->mutable_rotation()->data());
+}
+
+proto::CostFunction RelativePoseConstraint3D::ToCostFunctionProto() const {
+  proto::CostFunction cost_function;
+  auto* relative_pose_3d = cost_function.mutable_relative_pose_3d();
+  *relative_pose_3d->mutable_first() = first_.ToProto();
+  *relative_pose_3d->mutable_second() = second_.ToProto();
+  *relative_pose_3d->mutable_parameters() = cost_->ToProto();
+  return cost_function;
+}
+
+}  // namespace pose_graph
+}  // namespace cartographer

cartographer/pose_graph/constraint/relative_pose_constraint_3d.h

@@ -0,0 +1,55 @@
+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_RELATIVE_POSE_CONSTRAINT_3D_H_
+#define CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_RELATIVE_POSE_CONSTRAINT_3D_H_
+
+#include "cartographer/pose_graph/constraint/constraint.h"
+#include "cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d.h"
+
+namespace cartographer {
+namespace pose_graph {
+
+class RelativePoseConstraint3D : public Constraint {
+ public:
+  RelativePoseConstraint3D(const ConstraintId& id,
+                           const proto::LossFunction& loss_function_proto,
+                           const proto::RelativePose3D& proto);
+
+  void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
+
+ protected:
+  proto::CostFunction ToCostFunctionProto() const final;
+
+ private:
+  using AutoDiffFunction =
+      ceres::AutoDiffCostFunction<RelativePoseCost3D,
+                                  6 /* number of residuals */,
+                                  3 /* translation variables first pose */,
+                                  4 /* rotation variables first pose*/,
+                                  3 /* translation variables second pose */,
+                                  4 /* rotation variables second pose*/>;
+  NodeId first_;
+  NodeId second_;
+  // The cost function is owned by the ceres cost function.
+  RelativePoseCost3D* const cost_;
+  std::unique_ptr<AutoDiffFunction> ceres_cost_;
+};
+
+}  // namespace pose_graph
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_RELATIVE_POSE_CONSTRAINT_3D_H_