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Purge some additional jets (#1000)

master
Juraj Oršulić 2018-03-16 19:12:57 +01:00 committed by Alexander Belyaev
parent 1f9c78a82b
commit ee530d2423
5 changed files with 37 additions and 28 deletions
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13
cartographer/common/math.h
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@ -61,10 +61,10 @@ constexpr double RadToDeg(double rad) { return 180. * rad / M_PI; }
template <typename T>
T NormalizeAngleDifference(T difference) {
while (difference > M_PI) {
difference -= T(2. * M_PI);
difference -= 2. * M_PI;
}
while (difference < -M_PI) {
difference += T(2. * M_PI);
difference += 2. * M_PI;
}
return difference;
}
@ -74,6 +74,15 @@ T atan2(const Eigen::Matrix<T, 2, 1>& vector) {
return ceres::atan2(vector.y(), vector.x());
}
template <typename T>
inline void QuaternionProduct(const double* const z, const T* const w,
T* const zw) {
zw[0] = z[0] * w[0] - z[1] * w[1] - z[2] * w[2] - z[3] * w[3];
zw[1] = z[0] * w[1] + z[1] * w[0] + z[2] * w[3] - z[3] * w[2];
zw[2] = z[0] * w[2] - z[1] * w[3] + z[2] * w[0] + z[3] * w[1];
zw[3] = z[0] * w[3] + z[1] * w[2] - z[2] * w[1] + z[3] * w[0];
}
} // namespace common
} // namespace cartographer

4
cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
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@ -64,9 +64,9 @@ class OccupiedSpaceCostFunction2D {
const Eigen::Matrix<T, 3, 1> world = transform * point;
interpolator.Evaluate(
(limits.max().x() - world[0]) / limits.resolution() - 0.5 +
T(kPadding),
double(kPadding),
(limits.max().y() - world[1]) / limits.resolution() - 0.5 +
T(kPadding),
double(kPadding),
&residual[i]);
residual[i] = scaling_factor_ * (1. - residual[i]);
}

10
cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h
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@ -20,6 +20,7 @@
#include <cmath>
#include "Eigen/Core"
#include "cartographer/common/math.h"
#include "ceres/ceres.h"
#include "ceres/rotation.h"
@ -41,12 +42,9 @@ class RotationDeltaCostFunctor3D {
template <typename T>
bool operator()(const T* const rotation_quaternion, T* residual) const {
T delta[4];
T target_rotation_inverse[4] = {
T(target_rotation_inverse_[0]), T(target_rotation_inverse_[1]),
T(target_rotation_inverse_[2]), T(target_rotation_inverse_[3])};
ceres::QuaternionProduct(target_rotation_inverse, rotation_quaternion,
delta);
std::array<T, 4> delta;
common::QuaternionProduct(target_rotation_inverse_, rotation_quaternion,
delta.data());
// Will compute the squared norm of the imaginary component of the delta
// quaternion which is sin(phi/2)^2.
residual[0] = scaling_factor_ * delta[1];

24
cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
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@ -32,10 +32,10 @@ static std::array<T, 3> ComputeUnscaledError(
const T h[3] = {cos_theta_i * delta_x + sin_theta_i * delta_y,
-sin_theta_i * delta_x + cos_theta_i * delta_y,
end[2] - start[2]};
return {{T(relative_pose.translation().x()) - h[0],
T(relative_pose.translation().y()) - h[1],
common::NormalizeAngleDifference(
T(relative_pose.rotation().angle()) - h[2])}};
return {{relative_pose.translation().x() - h[0],
relative_pose.translation().y() - h[1],
common::NormalizeAngleDifference(relative_pose.rotation().angle() -
h[2])}};
}
template <typename T>
@ -72,9 +72,9 @@ static std::array<T, 6> ComputeUnscaledError(
transform::RotationQuaternionToAngleAxisVector(
h_rotation_inverse * relative_pose.rotation().cast<T>());
return {{T(relative_pose.translation().x()) - h_translation[0],
T(relative_pose.translation().y()) - h_translation[1],
T(relative_pose.translation().z()) - h_translation[2],
return {{relative_pose.translation().x() - h_translation[0],
relative_pose.translation().y() - h_translation[1],
relative_pose.translation().z() - h_translation[2],
angle_axis_difference[0], angle_axis_difference[1],
angle_axis_difference[2]}};
}
@ -107,13 +107,15 @@ std::array<T, 4> SlerpQuaternions(const T* const start, const T* const end,
// interval, then the quaternions are likely to be collinear.
T prev_scale(1. - factor);
T next_scale(factor);
if (abs_cos_theta < T(1. - 1e-5)) {
if (abs_cos_theta < 1. - 1e-5) {
const T theta = acos(abs_cos_theta);
const T sin_theta = sin(theta);
prev_scale = sin(prev_scale * theta) / sin_theta;
next_scale = sin(next_scale * theta) / sin_theta;
prev_scale = sin((1. - factor) * theta) / sin_theta;
next_scale = sin(factor * theta) / sin_theta;
}
if (cos_theta < 0.) {
next_scale = -next_scale;
}
if (cos_theta < T(0.)) next_scale = -next_scale;
return {{prev_scale * start[0] + next_scale * end[0],
prev_scale * start[1] + next_scale * end[1],
prev_scale * start[2] + next_scale * end[2],

14
cartographer/transform/transform.h
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@ -64,17 +64,17 @@ Eigen::Matrix<T, 3, 1> RotationQuaternionToAngleAxisVector(
// angle that represents this orientation.
if (normalized_quaternion.w() < 0.) {
// Multiply by -1. http://eigen.tuxfamily.org/bz/show_bug.cgi?id=560
normalized_quaternion.w() *= T(-1.);
normalized_quaternion.x() *= T(-1.);
normalized_quaternion.y() *= T(-1.);
normalized_quaternion.z() *= T(-1.);
normalized_quaternion.w() *= -1.;
normalized_quaternion.x() *= -1.;
normalized_quaternion.y() *= -1.;
normalized_quaternion.z() *= -1.;
}
// We convert the normalized_quaternion into a vector along the rotation axis
// with length of the rotation angle.
const T angle = T(2.) * atan2(normalized_quaternion.vec().norm(),
normalized_quaternion.w());
const T angle =
2. * atan2(normalized_quaternion.vec().norm(), normalized_quaternion.w());
constexpr double kCutoffAngle = 1e-7; // We linearize below this angle.
const T scale = angle < kCutoffAngle ? T(2.) : angle / sin(angle / T(2.));
const T scale = angle < kCutoffAngle ? T(2.) : angle / sin(angle / 2.);
return Eigen::Matrix<T, 3, 1>(scale * normalized_quaternion.x(),
scale * normalized_quaternion.y(),
scale * normalized_quaternion.z());