parent
4ba9d9168b
commit
f61a944938
|
@ -34,6 +34,7 @@
|
||||||
#include "cartographer/mapping/proto/pose_graph/constraint_builder_options.pb.h"
|
#include "cartographer/mapping/proto/pose_graph/constraint_builder_options.pb.h"
|
||||||
#include "cartographer/sensor/compressed_point_cloud.h"
|
#include "cartographer/sensor/compressed_point_cloud.h"
|
||||||
#include "cartographer/sensor/internal/voxel_filter.h"
|
#include "cartographer/sensor/internal/voxel_filter.h"
|
||||||
|
#include "cartographer/transform/transform.h"
|
||||||
#include "glog/logging.h"
|
#include "glog/logging.h"
|
||||||
|
|
||||||
namespace cartographer {
|
namespace cartographer {
|
||||||
|
@ -240,6 +241,12 @@ void PoseGraph2D::AddLandmarkData(int trajectory_id,
|
||||||
|
|
||||||
void PoseGraph2D::ComputeConstraint(const NodeId& node_id,
|
void PoseGraph2D::ComputeConstraint(const NodeId& node_id,
|
||||||
const SubmapId& submap_id) {
|
const SubmapId& submap_id) {
|
||||||
|
bool maybe_add_local_constraint = false;
|
||||||
|
bool maybe_add_global_constraint = false;
|
||||||
|
const TrajectoryNode::Data* constant_data;
|
||||||
|
const Submap2D* submap;
|
||||||
|
{
|
||||||
|
common::MutexLocker locker(&mutex_);
|
||||||
CHECK(data_.submap_data.at(submap_id).state == SubmapState::kFinished);
|
CHECK(data_.submap_data.at(submap_id).state == SubmapState::kFinished);
|
||||||
|
|
||||||
const common::Time node_time = GetLatestNodeTime(node_id, submap_id);
|
const common::Time node_time = GetLatestNodeTime(node_id, submap_id);
|
||||||
|
@ -255,33 +262,26 @@ void PoseGraph2D::ComputeConstraint(const NodeId& node_id,
|
||||||
// has been a recent global constraint that ties that node's trajectory to
|
// has been a recent global constraint that ties that node's trajectory to
|
||||||
// the submap's trajectory, it suffices to do a match constrained to a
|
// the submap's trajectory, it suffices to do a match constrained to a
|
||||||
// local search window.
|
// local search window.
|
||||||
|
maybe_add_local_constraint = true;
|
||||||
|
} else if (global_localization_samplers_[node_id.trajectory_id]->Pulse()) {
|
||||||
|
maybe_add_global_constraint = true;
|
||||||
|
}
|
||||||
|
constant_data = data_.trajectory_nodes.at(node_id).constant_data.get();
|
||||||
|
submap = static_cast<const Submap2D*>(
|
||||||
|
data_.submap_data.at(submap_id).submap.get());
|
||||||
|
}
|
||||||
|
|
||||||
|
if (maybe_add_local_constraint) {
|
||||||
const transform::Rigid2d initial_relative_pose =
|
const transform::Rigid2d initial_relative_pose =
|
||||||
optimization_problem_->submap_data()
|
optimization_problem_->submap_data()
|
||||||
.at(submap_id)
|
.at(submap_id)
|
||||||
.global_pose.inverse() *
|
.global_pose.inverse() *
|
||||||
optimization_problem_->node_data().at(node_id).global_pose_2d;
|
optimization_problem_->node_data().at(node_id).global_pose_2d;
|
||||||
constraint_builder_.MaybeAddConstraint(
|
constraint_builder_.MaybeAddConstraint(
|
||||||
submap_id,
|
submap_id, submap, node_id, constant_data, initial_relative_pose);
|
||||||
static_cast<const Submap2D*>(
|
} else if (maybe_add_global_constraint) {
|
||||||
data_.submap_data.at(submap_id).submap.get()),
|
constraint_builder_.MaybeAddGlobalConstraint(submap_id, submap, node_id,
|
||||||
node_id, data_.trajectory_nodes.at(node_id).constant_data.get(),
|
constant_data);
|
||||||
initial_relative_pose);
|
|
||||||
} else if (global_localization_samplers_[node_id.trajectory_id]->Pulse()) {
|
|
||||||
constraint_builder_.MaybeAddGlobalConstraint(
|
|
||||||
submap_id,
|
|
||||||
static_cast<const Submap2D*>(
|
|
||||||
data_.submap_data.at(submap_id).submap.get()),
|
|
||||||
node_id, data_.trajectory_nodes.at(node_id).constant_data.get());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void PoseGraph2D::ComputeConstraintsForOldNodes(const SubmapId& submap_id) {
|
|
||||||
const auto& submap_data = data_.submap_data.at(submap_id);
|
|
||||||
for (const auto& node_id_data : optimization_problem_->node_data()) {
|
|
||||||
const NodeId& node_id = node_id_data.id;
|
|
||||||
if (submap_data.node_ids.count(node_id) == 0) {
|
|
||||||
ComputeConstraint(node_id, submap_id);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -289,15 +289,21 @@ WorkItem::Result PoseGraph2D::ComputeConstraintsForNode(
|
||||||
const NodeId& node_id,
|
const NodeId& node_id,
|
||||||
std::vector<std::shared_ptr<const Submap2D>> insertion_submaps,
|
std::vector<std::shared_ptr<const Submap2D>> insertion_submaps,
|
||||||
const bool newly_finished_submap) {
|
const bool newly_finished_submap) {
|
||||||
|
std::vector<SubmapId> submap_ids;
|
||||||
|
std::vector<SubmapId> finished_submap_ids;
|
||||||
|
std::set<NodeId> newly_finished_submap_node_ids;
|
||||||
|
{
|
||||||
common::MutexLocker locker(&mutex_);
|
common::MutexLocker locker(&mutex_);
|
||||||
const auto& constant_data = data_.trajectory_nodes.at(node_id).constant_data;
|
const auto& constant_data =
|
||||||
const std::vector<SubmapId> submap_ids = InitializeGlobalSubmapPoses(
|
data_.trajectory_nodes.at(node_id).constant_data;
|
||||||
|
submap_ids = InitializeGlobalSubmapPoses(
|
||||||
node_id.trajectory_id, constant_data->time, insertion_submaps);
|
node_id.trajectory_id, constant_data->time, insertion_submaps);
|
||||||
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
|
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
|
||||||
const SubmapId matching_id = submap_ids.front();
|
const SubmapId matching_id = submap_ids.front();
|
||||||
const transform::Rigid2d local_pose_2d = transform::Project2D(
|
const transform::Rigid2d local_pose_2d =
|
||||||
constant_data->local_pose *
|
transform::Project2D(constant_data->local_pose *
|
||||||
transform::Rigid3d::Rotation(constant_data->gravity_alignment.inverse()));
|
transform::Rigid3d::Rotation(
|
||||||
|
constant_data->gravity_alignment.inverse()));
|
||||||
const transform::Rigid2d global_pose_2d =
|
const transform::Rigid2d global_pose_2d =
|
||||||
optimization_problem_->submap_data().at(matching_id).global_pose *
|
optimization_problem_->submap_data().at(matching_id).global_pose *
|
||||||
constraints::ComputeSubmapPose(*insertion_submaps.front()).inverse() *
|
constraints::ComputeSubmapPose(*insertion_submaps.front()).inverse() *
|
||||||
|
@ -325,24 +331,40 @@ WorkItem::Result PoseGraph2D::ComputeConstraintsForNode(
|
||||||
Constraint::INTRA_SUBMAP});
|
Constraint::INTRA_SUBMAP});
|
||||||
}
|
}
|
||||||
|
|
||||||
// TODO(gaschler): Consider not searching for constraints against trajectories
|
// TODO(gaschler): Consider not searching for constraints against
|
||||||
// scheduled for deletion.
|
// trajectories scheduled for deletion.
|
||||||
|
// TODO(danielsievers): Add a member variable and avoid having to copy
|
||||||
|
// them out here.
|
||||||
for (const auto& submap_id_data : data_.submap_data) {
|
for (const auto& submap_id_data : data_.submap_data) {
|
||||||
if (submap_id_data.data.state == SubmapState::kFinished) {
|
if (submap_id_data.data.state == SubmapState::kFinished) {
|
||||||
CHECK_EQ(submap_id_data.data.node_ids.count(node_id), 0);
|
CHECK_EQ(submap_id_data.data.node_ids.count(node_id), 0);
|
||||||
ComputeConstraint(node_id, submap_id_data.id);
|
finished_submap_ids.emplace_back(submap_id_data.id);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (newly_finished_submap) {
|
||||||
|
const SubmapId newly_finished_submap_id = submap_ids.front();
|
||||||
|
InternalSubmapData& finished_submap_data =
|
||||||
|
data_.submap_data.at(newly_finished_submap_id);
|
||||||
|
CHECK(finished_submap_data.state == SubmapState::kActive);
|
||||||
|
finished_submap_data.state = SubmapState::kFinished;
|
||||||
|
newly_finished_submap_node_ids = finished_submap_data.node_ids;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
for (const auto& submap_id : finished_submap_ids) {
|
||||||
|
ComputeConstraint(node_id, submap_id);
|
||||||
|
}
|
||||||
|
|
||||||
if (newly_finished_submap) {
|
if (newly_finished_submap) {
|
||||||
const SubmapId finished_submap_id = submap_ids.front();
|
const SubmapId newly_finished_submap_id = submap_ids.front();
|
||||||
InternalSubmapData& finished_submap_data =
|
|
||||||
data_.submap_data.at(finished_submap_id);
|
|
||||||
CHECK(finished_submap_data.state == SubmapState::kActive);
|
|
||||||
finished_submap_data.state = SubmapState::kFinished;
|
|
||||||
// We have a new completed submap, so we look into adding constraints for
|
// We have a new completed submap, so we look into adding constraints for
|
||||||
// old nodes.
|
// old nodes.
|
||||||
ComputeConstraintsForOldNodes(finished_submap_id);
|
for (const auto& node_id_data : optimization_problem_->node_data()) {
|
||||||
|
const NodeId& node_id = node_id_data.id;
|
||||||
|
if (newly_finished_submap_node_ids.count(node_id) == 0) {
|
||||||
|
ComputeConstraint(node_id, newly_finished_submap_id);
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
constraint_builder_.NotifyEndOfNode();
|
constraint_builder_.NotifyEndOfNode();
|
||||||
++num_nodes_since_last_loop_closure_;
|
++num_nodes_since_last_loop_closure_;
|
||||||
|
|
|
@ -188,11 +188,7 @@ class PoseGraph2D : public PoseGraph {
|
||||||
|
|
||||||
// Computes constraints for a node and submap pair.
|
// Computes constraints for a node and submap pair.
|
||||||
void ComputeConstraint(const NodeId& node_id, const SubmapId& submap_id)
|
void ComputeConstraint(const NodeId& node_id, const SubmapId& submap_id)
|
||||||
REQUIRES(mutex_);
|
EXCLUDES(mutex_);
|
||||||
|
|
||||||
// Adds constraints for older nodes whenever a new submap is finished.
|
|
||||||
void ComputeConstraintsForOldNodes(const SubmapId& submap_id)
|
|
||||||
REQUIRES(mutex_);
|
|
||||||
|
|
||||||
// Deletes trajectories waiting for deletion. Must not be called during
|
// Deletes trajectories waiting for deletion. Must not be called during
|
||||||
// constraint search.
|
// constraint search.
|
||||||
|
|
Loading…
Reference in New Issue