Add a 2D landmark cost function. (#868)
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)master
Alexander Belyaev
GitHub
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_H_
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#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_H_
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/mapping/pose_graph/cost_helpers.h"
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer/mapping_2d/pose_graph/optimization_problem.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/transform.h"
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#include "ceres/ceres.h"
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#include "ceres/jet.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace pose_graph {
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// Cost function measuring the weighted error between the observed pose given by
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// the landmark measurement and the linearly interpolated pose of embedded in 3D
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// space node poses.
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class LandmarkCostFunction {
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public:
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using LandmarkObservation =
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mapping::PoseGraphInterface::LandmarkNode::LandmarkObservation;
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static ceres::CostFunction* CreateAutoDiffCostFunction(
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const LandmarkObservation& observation, const NodeData& prev_node,
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const NodeData& next_node) {
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return new ceres::AutoDiffCostFunction<
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LandmarkCostFunction, 3 /* residuals */,
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3 /* previous node pose variables */, 3 /* next node pose variables */,
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4 /* landmark rotation variables */,
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3 /* landmark translation variables */>(
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new LandmarkCostFunction(observation, prev_node, next_node));
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}
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template <typename T>
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bool operator()(const T* const prev_node_pose, const T* const next_node_pose,
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const T* const landmark_rotation,
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const T* const landmark_translation, T* const e) const {
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using mapping::pose_graph::ComputeUnscaledError;
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using mapping::pose_graph::ScaleError;
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using mapping::pose_graph::SlerpQuaternions;
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const std::array<T, 3> interpolated_pose_translation{
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{prev_node_pose[0] +
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interpolation_parameter_ * (next_node_pose[0] - prev_node_pose[0]),
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prev_node_pose[1] +
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interpolation_parameter_ * (next_node_pose[1] - prev_node_pose[1]),
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T(0)}};
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// The following is equivalent to (Embed3D(prev_pose) *
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// Rigid3d::Rotation(prev_pose_gravity_alignment)).rotation().
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const Eigen::Quaternion<T> prev_quaternion(
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(Eigen::AngleAxis<T>(prev_node_pose[2],
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Eigen::Matrix<T, 3, 1>::UnitZ()) *
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prev_node_gravity_alignment_.cast<T>())
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.normalized());
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const std::array<T, 4> prev_node_rotation = {
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{prev_quaternion.w(), prev_quaternion.x(), prev_quaternion.y(),
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prev_quaternion.z()}};
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// The following is equivalent to (Embed3D(next_pose) *
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// Rigid3d::Rotation(next_pose_gravity_alignment)).rotation().
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const Eigen::Quaternion<T> next_quaternion(
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(Eigen::AngleAxis<T>(next_node_pose[2],
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Eigen::Matrix<T, 3, 1>::UnitZ()) *
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next_node_gravity_alignment_.cast<T>())
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.normalized());
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const std::array<T, 4> next_node_rotation = {
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{next_quaternion.w(), next_quaternion.x(), next_quaternion.y(),
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next_quaternion.z()}};
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const std::array<T, 4> interpolated_pose_rotation =
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SlerpQuaternions(prev_node_rotation.data(), next_node_rotation.data(),
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T(interpolation_parameter_));
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const std::array<T, 6> error = ScaleError(
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ComputeUnscaledError(landmark_to_tracking_transform_,
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interpolated_pose_rotation.data(),
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interpolated_pose_translation.data(),
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landmark_rotation, landmark_translation),
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T(translation_weight_), T(rotation_weight_));
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std::copy(std::begin(error), std::end(error), e);
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return true;
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}
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private:
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LandmarkCostFunction(const LandmarkObservation& observation,
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const NodeData& prev_node, const NodeData& next_node)
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: landmark_to_tracking_transform_(
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observation.landmark_to_tracking_transform),
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prev_node_gravity_alignment_(prev_node.gravity_alignment),
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next_node_gravity_alignment_(next_node.gravity_alignment),
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translation_weight_(observation.translation_weight),
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rotation_weight_(observation.rotation_weight),
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interpolation_parameter_(
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common::ToSeconds(observation.time - prev_node.time) /
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common::ToSeconds(next_node.time - prev_node.time)) {}
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const transform::Rigid3d landmark_to_tracking_transform_;
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const Eigen::Quaterniond prev_node_gravity_alignment_;
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const Eigen::Quaterniond next_node_gravity_alignment_;
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const double translation_weight_;
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const double rotation_weight_;
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const double interpolation_parameter_;
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};
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} // namespace pose_graph
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} // namespace mapping_2d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_H_
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@ -0,0 +1,70 @@
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping_2d/pose_graph/landmark_cost_function.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace pose_graph {
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namespace {
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using ::testing::DoubleEq;
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using ::testing::ElementsAre;
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using LandmarkObservation =
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mapping::PoseGraphInterface::LandmarkNode::LandmarkObservation;
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TEST(LandmarkCostFunctionTest, SmokeTest) {
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NodeData prev_node;
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prev_node.time = common::FromUniversal(0);
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prev_node.gravity_alignment = Eigen::Quaterniond::Identity();
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NodeData next_node;
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next_node.time = common::FromUniversal(10);
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next_node.gravity_alignment = Eigen::Quaterniond::Identity();
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auto* cost_function = LandmarkCostFunction::CreateAutoDiffCostFunction(
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LandmarkObservation{
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0 /* trajectory ID */,
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common::FromUniversal(5) /* time */,
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transform::Rigid3d::Translation(Eigen::Vector3d(1., 1., 1.)),
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1. /* translation_weight */,
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2. /* rotation_weight */,
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},
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prev_node, next_node);
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std::array<double, 3> prev_node_pose{{2., 0., 0.}};
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std::array<double, 3> next_node_pose{{0., 2., 0.}};
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std::array<double, 4> landmark_rotation{{1., 0., 0., 0.}};
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std::array<double, 3> landmark_translation{{1., 2., 1.}};
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const double* parameter_blocks[] = {
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prev_node_pose.data(), next_node_pose.data(), landmark_rotation.data(),
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landmark_translation.data()};
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std::array<double, 6> residuals;
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cost_function->Evaluate(parameter_blocks, residuals.data(), nullptr);
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EXPECT_THAT(residuals, ElementsAre(DoubleEq(1.), DoubleEq(0.), DoubleEq(0.),
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DoubleEq(0.), DoubleEq(0.), DoubleEq(0.)));
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}
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} // namespace
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} // namespace pose_graph
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} // namespace mapping_2d
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} // namespace cartographer
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