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Store node initial pose in constant data. (#568)

master
Juraj Oršulić 2017-10-05 16:10:12 +02:00 committed by Wolfgang Hess
parent cae9c02e05
commit bd8a2e6a92
14 changed files with 71 additions and 61 deletions
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5
cartographer/mapping/global_trajectory_builder.h
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@ -51,9 +51,8 @@ class GlobalTrajectoryBuilder
if (insertion_result == nullptr) {
return;
}
sparse_pose_graph_->AddScan(
insertion_result->constant_data, insertion_result->pose_observation,
trajectory_id_, insertion_result->insertion_submaps);
sparse_pose_graph_->AddScan(insertion_result->constant_data, trajectory_id_,
insertion_result->insertion_submaps);
}
void AddSensorData(const sensor::ImuData& imu_data) override {

1
cartographer/mapping/proto/trajectory_node_data.proto
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@ -28,4 +28,5 @@ message TrajectoryNodeData {
optional sensor.proto.CompressedPointCloud high_resolution_point_cloud = 4;
optional sensor.proto.CompressedPointCloud low_resolution_point_cloud = 5;
repeated float rotational_scan_matcher_histogram = 6;
optional transform.proto.Rigid3d initial_pose = 7;
}

5
cartographer/mapping/trajectory_node.cc
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@ -44,6 +44,8 @@ proto::TrajectoryNodeData ToProto(const TrajectoryNode::Data& constant_data) {
proto.add_rotational_scan_matcher_histogram(
constant_data.rotational_scan_matcher_histogram(i));
}
*proto.mutable_initial_pose() =
transform::ToProto(constant_data.initial_pose);
return proto;
}
@ -63,7 +65,8 @@ TrajectoryNode::Data FromProto(const proto::TrajectoryNodeData& proto) {
.Decompress(),
sensor::CompressedPointCloud(proto.low_resolution_point_cloud())
.Decompress(),
rotational_scan_matcher_histogram};
rotational_scan_matcher_histogram,
transform::ToRigid3(proto.initial_pose())};
}
} // namespace mapping

3
cartographer/mapping/trajectory_node.h
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@ -45,6 +45,9 @@ struct TrajectoryNode {
sensor::PointCloud high_resolution_point_cloud;
sensor::PointCloud low_resolution_point_cloud;
Eigen::VectorXf rotational_scan_matcher_histogram;
// The initial unoptimized node pose.
transform::Rigid3d initial_pose;
};
common::Time time() const { return constant_data->time; }

6
cartographer/mapping/trajectory_node_test.cc
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@ -21,6 +21,7 @@
#include "Eigen/Core"
#include "cartographer/common/time.h"
#include "cartographer/mapping/proto/trajectory_node_data.pb.h"
#include "cartographer/transform/rigid_transform_test_helpers.h"
#include "gtest/gtest.h"
namespace cartographer {
@ -36,7 +37,8 @@ TEST(TrajectoryNodeTest, ToAndFromProto) {
sensor::CompressedPointCloud({{2.f, 3.f, 4.f}}).Decompress(),
sensor::CompressedPointCloud({{-1.f, 2.f, 0.f}}).Decompress(),
Eigen::VectorXf::Unit(20, 4),
};
transform::Rigid3d({1., 2., 3.},
Eigen::Quaterniond(4., 5., -6., -7.).normalized())};
const proto::TrajectoryNodeData proto = ToProto(expected);
const TrajectoryNode::Data actual = FromProto(proto);
EXPECT_EQ(expected.time, actual.time);
@ -49,6 +51,8 @@ TEST(TrajectoryNodeTest, ToAndFromProto) {
actual.low_resolution_point_cloud);
EXPECT_EQ(expected.rotational_scan_matcher_histogram,
actual.rotational_scan_matcher_histogram);
EXPECT_THAT(actual.initial_pose,
transform::IsNearly(expected.initial_pose, 1e-9));
}
} // namespace

5
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -184,8 +184,9 @@ LocalTrajectoryBuilder::AddAccumulatedRangeData(
filtered_gravity_aligned_point_cloud,
{}, // 'high_resolution_point_cloud' is only used in 3D.
{}, // 'low_resolution_point_cloud' is only used in 3D.
}),
pose_estimate, std::move(insertion_submaps)});
{}, // 'rotational_scan_matcher_histogram' is only used in 3D.
pose_estimate}),
std::move(insertion_submaps)});
}
const mapping::PoseEstimate& LocalTrajectoryBuilder::pose_estimate() const {

1
cartographer/mapping_2d/local_trajectory_builder.h
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@ -42,7 +42,6 @@ class LocalTrajectoryBuilder {
public:
struct InsertionResult {
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data;
transform::Rigid3d pose_observation;
std::vector<std::shared_ptr<const Submap>> insertion_submaps;
};

40
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -96,10 +96,10 @@ std::vector<mapping::SubmapId> SparsePoseGraph::GrowSubmapTransformsAsNeeded(
void SparsePoseGraph::AddScan(
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
const transform::Rigid3d& pose, const int trajectory_id,
const int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
const transform::Rigid3d optimized_pose(
GetLocalToGlobalTransform(trajectory_id) * pose);
GetLocalToGlobalTransform(trajectory_id) * constant_data->initial_pose);
common::MutexLocker locker(&mutex_);
trajectory_nodes_.Append(
@ -132,11 +132,8 @@ void SparsePoseGraph::AddScan(
// execute the lambda.
const bool newly_finished_submap = insertion_submaps.front()->finished();
AddWorkItem([=]() REQUIRES(mutex_) {
ComputeConstraintsForScan(
trajectory_id, insertion_submaps, newly_finished_submap,
transform::Project2D(pose *
transform::Rigid3d::Rotation(
constant_data->gravity_alignment.inverse())));
ComputeConstraintsForScan(trajectory_id, insertion_submaps,
newly_finished_submap);
});
}
@ -227,19 +224,11 @@ void SparsePoseGraph::ComputeConstraintsForOldScans(
void SparsePoseGraph::ComputeConstraintsForScan(
const int trajectory_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
const bool newly_finished_submap, const transform::Rigid2d& pose) {
const bool newly_finished_submap) {
const std::vector<mapping::SubmapId> submap_ids =
GrowSubmapTransformsAsNeeded(trajectory_id, insertion_submaps);
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
const mapping::SubmapId matching_id = submap_ids.front();
const transform::Rigid2d optimized_pose =
optimization_problem_.submap_data()
.at(matching_id.trajectory_id)
.at(matching_id.submap_index)
.pose *
sparse_pose_graph::ComputeSubmapPose(*insertion_submaps.front())
.inverse() *
pose;
const mapping::NodeId node_id{
matching_id.trajectory_id,
static_cast<size_t>(matching_id.trajectory_id) <
@ -252,10 +241,21 @@ void SparsePoseGraph::ComputeConstraintsForScan(
->first +
1)
: 0};
const auto& node_data = trajectory_nodes_.at(node_id).constant_data;
optimization_problem_.AddTrajectoryNode(matching_id.trajectory_id,
node_data->time, pose, optimized_pose,
node_data->gravity_alignment);
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
const transform::Rigid2d pose = transform::Project2D(
constant_data->initial_pose *
transform::Rigid3d::Rotation(constant_data->gravity_alignment.inverse()));
const transform::Rigid2d optimized_pose =
optimization_problem_.submap_data()
.at(matching_id.trajectory_id)
.at(matching_id.submap_index)
.pose *
sparse_pose_graph::ComputeSubmapPose(*insertion_submaps.front())
.inverse() *
pose;
optimization_problem_.AddTrajectoryNode(
matching_id.trajectory_id, constant_data->time, pose, optimized_pose,
constant_data->gravity_alignment);
for (size_t i = 0; i < insertion_submaps.size(); ++i) {
const mapping::SubmapId submap_id = submap_ids[i];
// Even if this was the last scan added to 'submap_id', the submap will only

5
cartographer/mapping_2d/sparse_pose_graph.h
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@ -71,7 +71,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// 'true', this submap was inserted into for the last time.
void AddScan(
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
const transform::Rigid3d& pose, int trajectory_id,
int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps)
EXCLUDES(mutex_);
@ -130,8 +130,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
void ComputeConstraintsForScan(
int trajectory_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
bool newly_finished_submap, const transform::Rigid2d& pose)
REQUIRES(mutex_);
bool newly_finished_submap) REQUIRES(mutex_);
// Computes constraints for a scan and submap pair.
void ComputeConstraint(const mapping::NodeId& node_id,

5
cartographer/mapping_2d/sparse_pose_graph_test.cc
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@ -164,8 +164,9 @@ class SparsePoseGraphTest : public ::testing::Test {
range_data.returns,
{},
{},
{}}),
transform::Embed3D(pose_estimate), kTrajectoryId, insertion_submaps);
{},
transform::Embed3D(pose_estimate)}),
kTrajectoryId, insertion_submaps);
}
void MoveRelative(const transform::Rigid2d& movement) {

5
cartographer/mapping_3d/local_trajectory_builder.cc
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@ -221,8 +221,9 @@ LocalTrajectoryBuilder::InsertIntoSubmap(
{}, // 'filtered_point_cloud' is only used in 2D.
high_resolution_point_cloud,
low_resolution_point_cloud,
rotational_scan_matcher_histogram}),
pose_observation, std::move(insertion_submaps)});
rotational_scan_matcher_histogram,
pose_observation}),
std::move(insertion_submaps)});
}
} // namespace mapping_3d

1
cartographer/mapping_3d/local_trajectory_builder.h
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@ -42,7 +42,6 @@ class LocalTrajectoryBuilder {
public:
struct InsertionResult {
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data;
transform::Rigid3d pose_observation;
std::vector<std::shared_ptr<const Submap>> insertion_submaps;
};

25
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -94,10 +94,10 @@ std::vector<mapping::SubmapId> SparsePoseGraph::GrowSubmapTransformsAsNeeded(
void SparsePoseGraph::AddScan(
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
const transform::Rigid3d& pose, const int trajectory_id,
const int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
const transform::Rigid3d optimized_pose(
GetLocalToGlobalTransform(trajectory_id) * pose);
GetLocalToGlobalTransform(trajectory_id) * constant_data->initial_pose);
common::MutexLocker locker(&mutex_);
trajectory_nodes_.Append(
@ -131,7 +131,7 @@ void SparsePoseGraph::AddScan(
const bool newly_finished_submap = insertion_submaps.front()->finished();
AddWorkItem([=]() REQUIRES(mutex_) {
ComputeConstraintsForScan(trajectory_id, insertion_submaps,
newly_finished_submap, pose);
newly_finished_submap);
});
}
@ -250,17 +250,11 @@ void SparsePoseGraph::ComputeConstraintsForOldScans(
void SparsePoseGraph::ComputeConstraintsForScan(
const int trajectory_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
const bool newly_finished_submap, const transform::Rigid3d& pose) {
const bool newly_finished_submap) {
const std::vector<mapping::SubmapId> submap_ids =
GrowSubmapTransformsAsNeeded(trajectory_id, insertion_submaps);
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
const mapping::SubmapId matching_id = submap_ids.front();
const transform::Rigid3d optimized_pose =
optimization_problem_.submap_data()
.at(matching_id.trajectory_id)
.at(matching_id.submap_index)
.pose *
insertion_submaps.front()->local_pose().inverse() * pose;
const mapping::NodeId node_id{
matching_id.trajectory_id,
static_cast<size_t>(matching_id.trajectory_id) <
@ -273,9 +267,16 @@ void SparsePoseGraph::ComputeConstraintsForScan(
->first +
1)
: 0};
const auto& scan_data = trajectory_nodes_.at(node_id).constant_data;
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
const transform::Rigid3d& pose = constant_data->initial_pose;
const transform::Rigid3d optimized_pose =
optimization_problem_.submap_data()
.at(matching_id.trajectory_id)
.at(matching_id.submap_index)
.pose *
insertion_submaps.front()->local_pose().inverse() * pose;
optimization_problem_.AddTrajectoryNode(
matching_id.trajectory_id, scan_data->time, pose, optimized_pose);
matching_id.trajectory_id, constant_data->time, pose, optimized_pose);
for (size_t i = 0; i < insertion_submaps.size(); ++i) {
const mapping::SubmapId submap_id = submap_ids[i];
// Even if this was the last scan added to 'submap_id', the submap will only

5
cartographer/mapping_3d/sparse_pose_graph.h
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@ -72,7 +72,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// 'true', this submap was inserted into for the last time.
void AddScan(
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
const transform::Rigid3d& pose, int trajectory_id,
int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps)
EXCLUDES(mutex_);
@ -131,8 +131,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
void ComputeConstraintsForScan(
int trajectory_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
bool newly_finished_submap, const transform::Rigid3d& pose)
REQUIRES(mutex_);
bool newly_finished_submap) REQUIRES(mutex_);
// Computes constraints for a scan and submap pair.
void ComputeConstraint(const mapping::NodeId& node_id,