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cartographer/cartographer/mapping_3d/pose_graph.cc

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/*
* Copyright 2016 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/mapping_3d/pose_graph.h"
#include <algorithm>
#include <cmath>
#include <cstdio>
#include <functional>
#include <iomanip>
#include <iostream>
#include <limits>
#include <memory>
#include <sstream>
#include <string>
#include "Eigen/Eigenvalues"
#include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h"
#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
#include "cartographer/sensor/compressed_point_cloud.h"
#include "cartographer/sensor/voxel_filter.h"
#include "glog/logging.h"
namespace cartographer {
namespace mapping_3d {
PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool)
: options_(options),
optimization_problem_(options_.optimization_problem_options(),
pose_graph::OptimizationProblem::FixZ::kNo),
constraint_builder_(options_.constraint_builder_options(), thread_pool) {}
PoseGraph::~PoseGraph() {
WaitForAllComputations();
common::MutexLocker locker(&mutex_);
CHECK(work_queue_ == nullptr);
}
std::vector<mapping::SubmapId> PoseGraph::InitializeGlobalSubmapPoses(
const int trajectory_id, const common::Time time,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
CHECK(!insertion_submaps.empty());
const auto& submap_data = optimization_problem_.submap_data();
if (insertion_submaps.size() == 1) {
// If we don't already have an entry for the first submap, add one.
if (submap_data.SizeOfTrajectoryOrZero(trajectory_id) == 0) {
if (initial_trajectory_poses_.count(trajectory_id) > 0) {
trajectory_connectivity_state_.Connect(
trajectory_id,
initial_trajectory_poses_.at(trajectory_id).to_trajectory_id, time);
}
optimization_problem_.AddSubmap(
trajectory_id, ComputeLocalToGlobalTransform(
optimized_submap_transforms_, trajectory_id) *
insertion_submaps[0]->local_pose());
}
CHECK_EQ(1, submap_data.SizeOfTrajectoryOrZero(trajectory_id));
const mapping::SubmapId submap_id{trajectory_id, 0};
CHECK(submap_data_.at(submap_id).submap == insertion_submaps.front());
return {submap_id};
}
CHECK_EQ(2, insertion_submaps.size());
const auto end_it = submap_data.EndOfTrajectory(trajectory_id);
CHECK(submap_data.BeginOfTrajectory(trajectory_id) != end_it);
const mapping::SubmapId last_submap_id = std::prev(end_it)->id;
if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) {
// In this case, 'last_submap_id' is the ID of 'insertions_submaps.front()'
// and 'insertions_submaps.back()' is new.
const auto& first_submap_pose = submap_data.at(last_submap_id).global_pose;
optimization_problem_.AddSubmap(
trajectory_id, first_submap_pose *
insertion_submaps[0]->local_pose().inverse() *
insertion_submaps[1]->local_pose());
return {last_submap_id,
mapping::SubmapId{trajectory_id, last_submap_id.submap_index + 1}};
}
CHECK(submap_data_.at(last_submap_id).submap == insertion_submaps.back());
const mapping::SubmapId front_submap_id{trajectory_id,
last_submap_id.submap_index - 1};
CHECK(submap_data_.at(front_submap_id).submap == insertion_submaps.front());
return {front_submap_id, last_submap_id};
}
mapping::NodeId PoseGraph::AddNode(
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data,
const int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
const transform::Rigid3d optimized_pose(
GetLocalToGlobalTransform(trajectory_id) * constant_data->local_pose);
common::MutexLocker locker(&mutex_);
AddTrajectoryIfNeeded(trajectory_id);
const mapping::NodeId node_id = trajectory_nodes_.Append(
trajectory_id, mapping::TrajectoryNode{constant_data, optimized_pose});
++num_trajectory_nodes_;
// Test if the 'insertion_submap.back()' is one we never saw before.
if (submap_data_.SizeOfTrajectoryOrZero(trajectory_id) == 0 ||
std::prev(submap_data_.EndOfTrajectory(trajectory_id))->data.submap !=
insertion_submaps.back()) {
// We grow 'submap_data_' as needed. This code assumes that the first
// time we see a new submap is as 'insertion_submaps.back()'.
const mapping::SubmapId submap_id =
submap_data_.Append(trajectory_id, SubmapData());
submap_data_.at(submap_id).submap = insertion_submaps.back();
}
// We have to check this here, because it might have changed by the time we
// execute the lambda.
const bool newly_finished_submap = insertion_submaps.front()->finished();
AddWorkItem([=]() REQUIRES(mutex_) {
ComputeConstraintsForNode(node_id, insertion_submaps,
newly_finished_submap);
});
return node_id;
}
void PoseGraph::AddWorkItem(const std::function<void()>& work_item) {
if (work_queue_ == nullptr) {
work_item();
} else {
work_queue_->push_back(work_item);
}
}
void PoseGraph::AddTrajectoryIfNeeded(const int trajectory_id) {
trajectory_connectivity_state_.Add(trajectory_id);
// Make sure we have a sampler for this trajectory.
if (!global_localization_samplers_[trajectory_id]) {
global_localization_samplers_[trajectory_id] =
common::make_unique<common::FixedRatioSampler>(
options_.global_sampling_ratio());
}
}
void PoseGraph::AddImuData(const int trajectory_id,
const sensor::ImuData& imu_data) {
common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddImuData(trajectory_id, imu_data);
});
}
void PoseGraph::AddOdometryData(const int trajectory_id,
const sensor::OdometryData& odometry_data) {
common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddOdometryData(trajectory_id, odometry_data);
});
}
void PoseGraph::AddFixedFramePoseData(
const int trajectory_id,
const sensor::FixedFramePoseData& fixed_frame_pose_data) {
common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddFixedFramePoseData(trajectory_id,
fixed_frame_pose_data);
});
}
void PoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
const mapping::SubmapId& submap_id) {
CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished);
const transform::Rigid3d global_node_pose =
optimization_problem_.node_data().at(node_id).global_pose;
const transform::Rigid3d global_submap_pose =
optimization_problem_.submap_data().at(submap_id).global_pose;
const transform::Rigid3d global_submap_pose_inverse =
global_submap_pose.inverse();
std::vector<mapping::TrajectoryNode> submap_nodes;
for (const mapping::NodeId& submap_node_id :
submap_data_.at(submap_id).node_ids) {
submap_nodes.push_back(mapping::TrajectoryNode{
trajectory_nodes_.at(submap_node_id).constant_data,
global_submap_pose_inverse *
trajectory_nodes_.at(submap_node_id).global_pose});
}
const common::Time node_time = GetLatestNodeTime(node_id, submap_id);
const common::Time last_connection_time =
trajectory_connectivity_state_.LastConnectionTime(
node_id.trajectory_id, submap_id.trajectory_id);
if (node_id.trajectory_id == submap_id.trajectory_id ||
node_time <
last_connection_time +
common::FromSeconds(
options_.global_constraint_search_after_n_seconds())) {
// If the node and the submap belong to the same trajectory or if there 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 local
// search window.
constraint_builder_.MaybeAddConstraint(
submap_id, submap_data_.at(submap_id).submap.get(), node_id,
trajectory_nodes_.at(node_id).constant_data.get(), submap_nodes,
global_node_pose, global_submap_pose);
} else if (global_localization_samplers_[node_id.trajectory_id]->Pulse()) {
// In this situation, 'global_node_pose' and 'global_submap_pose' have
// orientations agreeing on gravity. Their relationship regarding yaw is
// arbitrary. Finding the correct yaw component will be handled by the
// matching procedure in the FastCorrelativeScanMatcher, and the given yaw
// is essentially ignored.
constraint_builder_.MaybeAddGlobalConstraint(
submap_id, submap_data_.at(submap_id).submap.get(), node_id,
trajectory_nodes_.at(node_id).constant_data.get(), submap_nodes,
global_node_pose.rotation(), global_submap_pose.rotation());
}
}
void PoseGraph::ComputeConstraintsForOldNodes(
const mapping::SubmapId& submap_id) {
const auto& submap_data = submap_data_.at(submap_id);
for (const auto& node_id_data : optimization_problem_.node_data()) {
const mapping::NodeId& node_id = node_id_data.id;
if (submap_data.node_ids.count(node_id) == 0) {
ComputeConstraint(node_id, submap_id);
}
}
}
void PoseGraph::ComputeConstraintsForNode(
const mapping::NodeId& node_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
const bool newly_finished_submap) {
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
const std::vector<mapping::SubmapId> submap_ids = InitializeGlobalSubmapPoses(
node_id.trajectory_id, constant_data->time, insertion_submaps);
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
const mapping::SubmapId matching_id = submap_ids.front();
const transform::Rigid3d& local_pose = constant_data->local_pose;
const transform::Rigid3d global_pose =
optimization_problem_.submap_data().at(matching_id).global_pose *
insertion_submaps.front()->local_pose().inverse() * local_pose;
optimization_problem_.AddTrajectoryNode(
matching_id.trajectory_id, constant_data->time, local_pose, global_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 node added to 'submap_id', the submap will only
// be marked as finished in 'submap_data_' further below.
CHECK(submap_data_.at(submap_id).state == SubmapState::kActive);
submap_data_.at(submap_id).node_ids.emplace(node_id);
const transform::Rigid3d constraint_transform =
insertion_submaps[i]->local_pose().inverse() * local_pose;
constraints_.push_back(
Constraint{submap_id,
node_id,
{constraint_transform, options_.matcher_translation_weight(),
options_.matcher_rotation_weight()},
Constraint::INTRA_SUBMAP});
}
for (const auto& submap_id_data : submap_data_) {
if (submap_id_data.data.state == SubmapState::kFinished) {
CHECK_EQ(submap_id_data.data.node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id_data.id);
}
}
if (newly_finished_submap) {
const mapping::SubmapId finished_submap_id = submap_ids.front();
SubmapData& finished_submap_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
// old nodes.
ComputeConstraintsForOldNodes(finished_submap_id);
}
constraint_builder_.NotifyEndOfNode();
++num_nodes_since_last_loop_closure_;
if (options_.optimize_every_n_scans() > 0 &&
num_nodes_since_last_loop_closure_ > options_.optimize_every_n_scans()) {
CHECK(!run_loop_closure_);
run_loop_closure_ = true;
// If there is a 'work_queue_' already, some other thread will take care.
if (work_queue_ == nullptr) {
work_queue_ = common::make_unique<std::deque<std::function<void()>>>();
HandleWorkQueue();
}
}
}
common::Time PoseGraph::GetLatestNodeTime(
const mapping::NodeId& node_id, const mapping::SubmapId& submap_id) const {
common::Time time = trajectory_nodes_.at(node_id).constant_data->time;
const SubmapData& submap_data = submap_data_.at(submap_id);
if (!submap_data.node_ids.empty()) {
const mapping::NodeId last_submap_node_id =
*submap_data_.at(submap_id).node_ids.rbegin();
time = std::max(
time, trajectory_nodes_.at(last_submap_node_id).constant_data->time);
}
return time;
}
void PoseGraph::UpdateTrajectoryConnectivity(const Constraint& constraint) {
CHECK_EQ(constraint.tag, mapping::PoseGraph::Constraint::INTER_SUBMAP);
const common::Time time =
GetLatestNodeTime(constraint.node_id, constraint.submap_id);
trajectory_connectivity_state_.Connect(constraint.node_id.trajectory_id,
constraint.submap_id.trajectory_id,
time);
}
void PoseGraph::HandleWorkQueue() {
constraint_builder_.WhenDone(
[this](const pose_graph::ConstraintBuilder::Result& result) {
{
common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end());
}
RunOptimization();
common::MutexLocker locker(&mutex_);
for (const Constraint& constraint : result) {
UpdateTrajectoryConnectivity(constraint);
}
TrimmingHandle trimming_handle(this);
for (auto& trimmer : trimmers_) {
trimmer->Trim(&trimming_handle);
}
num_nodes_since_last_loop_closure_ = 0;
run_loop_closure_ = false;
while (!run_loop_closure_) {
if (work_queue_->empty()) {
work_queue_.reset();
return;
}
work_queue_->front()();
work_queue_->pop_front();
}
LOG(INFO) << "Remaining work items in queue: " << work_queue_->size();
// We have to optimize again.
HandleWorkQueue();
});
}
void PoseGraph::WaitForAllComputations() {
bool notification = false;
common::MutexLocker locker(&mutex_);
const int num_finished_nodes_at_start =
constraint_builder_.GetNumFinishedNodes();
while (!locker.AwaitWithTimeout(
[this]() REQUIRES(mutex_) {
return constraint_builder_.GetNumFinishedNodes() ==
num_trajectory_nodes_;
},
common::FromSeconds(1.))) {
std::ostringstream progress_info;
progress_info << "Optimizing: " << std::fixed << std::setprecision(1)
<< 100. *
(constraint_builder_.GetNumFinishedNodes() -
num_finished_nodes_at_start) /
(num_trajectory_nodes_ - num_finished_nodes_at_start)
<< "%...";
std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
}
std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
constraint_builder_.WhenDone(
[this,
&notification](const pose_graph::ConstraintBuilder::Result& result) {
common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end());
notification = true;
});
locker.Await([&notification]() { return notification; });
}
void PoseGraph::FinishTrajectory(const int trajectory_id) {
// TODO(jihoonl): Add a logic to notify trimmers to finish the given
// trajectory.
}
void PoseGraph::FreezeTrajectory(const int trajectory_id) {
common::MutexLocker locker(&mutex_);
trajectory_connectivity_state_.Add(trajectory_id);
AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(trajectory_id), 0);
frozen_trajectories_.insert(trajectory_id);
});
}
void PoseGraph::AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
const mapping::proto::Submap& submap) {
if (!submap.has_submap_3d()) {
return;
}
const mapping::SubmapId submap_id = {submap.submap_id().trajectory_id(),
submap.submap_id().submap_index()};
std::shared_ptr<const Submap> submap_ptr =
std::make_shared<const Submap>(submap.submap_3d());
common::MutexLocker locker(&mutex_);
AddTrajectoryIfNeeded(submap_id.trajectory_id);
submap_data_.Insert(submap_id, SubmapData());
submap_data_.at(submap_id).submap = submap_ptr;
// Immediately show the submap at the 'global_submap_pose'.
optimized_submap_transforms_.Insert(
submap_id, pose_graph::SubmapData{global_submap_pose});
AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
submap_data_.at(submap_id).state = SubmapState::kFinished;
optimization_problem_.InsertSubmap(submap_id, global_submap_pose);
});
}
void PoseGraph::AddNodeFromProto(const transform::Rigid3d& global_pose,
const mapping::proto::Node& node) {
const mapping::NodeId node_id = {node.node_id().trajectory_id(),
node.node_id().node_index()};
std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data =
std::make_shared<const mapping::TrajectoryNode::Data>(
mapping::FromProto(node.node_data()));
common::MutexLocker locker(&mutex_);
AddTrajectoryIfNeeded(node_id.trajectory_id);
trajectory_nodes_.Insert(node_id,
mapping::TrajectoryNode{constant_data, global_pose});
AddWorkItem([this, node_id, global_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(node_id.trajectory_id), 1);
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
optimization_problem_.InsertTrajectoryNode(
node_id, constant_data->time, constant_data->local_pose, global_pose);
});
}
void PoseGraph::AddNodeToSubmap(const mapping::NodeId& node_id,
const mapping::SubmapId& submap_id) {
common::MutexLocker locker(&mutex_);
AddWorkItem([this, node_id, submap_id]() REQUIRES(mutex_) {
submap_data_.at(submap_id).node_ids.insert(node_id);
});
}
void PoseGraph::AddSerializedConstraints(
const std::vector<Constraint>& constraints) {
common::MutexLocker locker(&mutex_);
AddWorkItem([this, constraints]() REQUIRES(mutex_) {
for (const auto& constraint : constraints) {
CHECK(trajectory_nodes_.Contains(constraint.node_id));
CHECK(submap_data_.Contains(constraint.submap_id));
CHECK(trajectory_nodes_.at(constraint.node_id).constant_data != nullptr);
CHECK(submap_data_.at(constraint.submap_id).submap != nullptr);
switch (constraint.tag) {
case Constraint::Tag::INTRA_SUBMAP:
CHECK(submap_data_.at(constraint.submap_id)
.node_ids.emplace(constraint.node_id)
.second);
break;
case Constraint::Tag::INTER_SUBMAP:
UpdateTrajectoryConnectivity(constraint);
break;
}
constraints_.push_back(constraint);
}
LOG(INFO) << "Loaded " << constraints.size() << " constraints.";
});
}
void PoseGraph::AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) {
common::MutexLocker locker(&mutex_);
// C++11 does not allow us to move a unique_ptr into a lambda.
mapping::PoseGraphTrimmer* const trimmer_ptr = trimmer.release();
AddWorkItem([this, trimmer_ptr]()
REQUIRES(mutex_) { trimmers_.emplace_back(trimmer_ptr); });
}
void PoseGraph::RunFinalOptimization() {
WaitForAllComputations();
optimization_problem_.SetMaxNumIterations(
options_.max_num_final_iterations());
RunOptimization();
optimization_problem_.SetMaxNumIterations(
options_.optimization_problem_options()
.ceres_solver_options()
.max_num_iterations());
}
void PoseGraph::LogResidualHistograms() {
common::Histogram rotational_residual;
common::Histogram translational_residual;
for (const Constraint& constraint : constraints_) {
if (constraint.tag == Constraint::Tag::INTRA_SUBMAP) {
const cartographer::transform::Rigid3d optimized_node_to_map =
trajectory_nodes_.at(constraint.node_id).global_pose;
const cartographer::transform::Rigid3d node_to_submap_constraint =
constraint.pose.zbar_ij;
const cartographer::transform::Rigid3d optimized_submap_to_map =
optimized_submap_transforms_.at(constraint.submap_id).global_pose;
const cartographer::transform::Rigid3d optimized_node_to_submap =
optimized_submap_to_map.inverse() * optimized_node_to_map;
const cartographer::transform::Rigid3d residual =
node_to_submap_constraint.inverse() * optimized_node_to_submap;
rotational_residual.Add(
common::NormalizeAngleDifference(transform::GetAngle(residual)));
translational_residual.Add(residual.translation().norm());
}
}
LOG(INFO) << "Translational residuals histogram:\n"
<< translational_residual.ToString(10);
LOG(INFO) << "Rotational residuals histogram:\n"
<< rotational_residual.ToString(10);
}
void PoseGraph::RunOptimization() {
if (optimization_problem_.submap_data().empty()) {
return;
}
// No other thread is accessing the optimization_problem_, constraints_ and
// frozen_trajectories_ when executing the Solve. Solve is time consuming, so
// not taking the mutex before Solve to avoid blocking foreground processing.
optimization_problem_.Solve(constraints_, frozen_trajectories_);
common::MutexLocker locker(&mutex_);
const auto& submap_data = optimization_problem_.submap_data();
const auto& node_data = optimization_problem_.node_data();
for (const int trajectory_id : node_data.trajectory_ids()) {
for (const auto& node : node_data.trajectory(trajectory_id)) {
trajectory_nodes_.at(node.id).global_pose = node.data.global_pose;
}
// Extrapolate all point cloud poses that were not included in the
// 'optimization_problem_' yet.
const auto local_to_new_global =
ComputeLocalToGlobalTransform(submap_data, trajectory_id);
const auto local_to_old_global = ComputeLocalToGlobalTransform(
optimized_submap_transforms_, trajectory_id);
const transform::Rigid3d old_global_to_new_global =
local_to_new_global * local_to_old_global.inverse();
const mapping::NodeId last_optimized_node_id =
std::prev(node_data.EndOfTrajectory(trajectory_id))->id;
auto node_it = std::next(trajectory_nodes_.find(last_optimized_node_id));
for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id);
++node_it) {
auto& mutable_trajectory_node = trajectory_nodes_.at(node_it->id);
mutable_trajectory_node.global_pose =
old_global_to_new_global * mutable_trajectory_node.global_pose;
}
}
optimized_submap_transforms_ = submap_data;
// Log the histograms for the pose residuals.
if (options_.log_residual_histograms()) {
LogResidualHistograms();
}
}
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode>
PoseGraph::GetTrajectoryNodes() {
common::MutexLocker locker(&mutex_);
return trajectory_nodes_;
}
sensor::MapByTime<sensor::ImuData> PoseGraph::GetImuData() {
common::MutexLocker locker(&mutex_);
return optimization_problem_.imu_data();
}
sensor::MapByTime<sensor::OdometryData> PoseGraph::GetOdometryData() {
common::MutexLocker locker(&mutex_);
return optimization_problem_.odometry_data();
}
std::vector<PoseGraph::Constraint> PoseGraph::constraints() {
common::MutexLocker locker(&mutex_);
return constraints_;
}
void PoseGraph::SetInitialTrajectoryPose(const int from_trajectory_id,
const int to_trajectory_id,
const transform::Rigid3d& pose,
const common::Time time) {
common::MutexLocker locker(&mutex_);
initial_trajectory_poses_[from_trajectory_id] =
InitialTrajectoryPose{to_trajectory_id, pose, time};
}
transform::Rigid3d PoseGraph::GetInterpolatedGlobalTrajectoryPose(
const int trajectory_id, const common::Time time) const {
CHECK(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id) > 0);
const auto it = trajectory_nodes_.lower_bound(trajectory_id, time);
if (it == trajectory_nodes_.BeginOfTrajectory(trajectory_id)) {
return trajectory_nodes_.BeginOfTrajectory(trajectory_id)->data.global_pose;
}
if (it == trajectory_nodes_.EndOfTrajectory(trajectory_id)) {
return std::prev(trajectory_nodes_.EndOfTrajectory(trajectory_id))
->data.global_pose;
}
return transform::Interpolate(
transform::TimestampedTransform{std::prev(it)->data.time(),
std::prev(it)->data.global_pose},
transform::TimestampedTransform{it->data.time(),
it->data.global_pose},
time)
.transform;
}
transform::Rigid3d PoseGraph::GetLocalToGlobalTransform(
const int trajectory_id) {
common::MutexLocker locker(&mutex_);
return ComputeLocalToGlobalTransform(optimized_submap_transforms_,
trajectory_id);
}
std::vector<std::vector<int>> PoseGraph::GetConnectedTrajectories() {
return trajectory_connectivity_state_.Components();
}
mapping::PoseGraph::SubmapData PoseGraph::GetSubmapData(
const mapping::SubmapId& submap_id) {
common::MutexLocker locker(&mutex_);
return GetSubmapDataUnderLock(submap_id);
}
mapping::MapById<mapping::SubmapId, mapping::PoseGraph::SubmapData>
PoseGraph::GetAllSubmapData() {
common::MutexLocker locker(&mutex_);
mapping::MapById<mapping::SubmapId, mapping::PoseGraph::SubmapData> submaps;
for (const auto& submap_id_data : submap_data_) {
submaps.Insert(submap_id_data.id,
GetSubmapDataUnderLock(submap_id_data.id));
}
return submaps;
}
transform::Rigid3d PoseGraph::ComputeLocalToGlobalTransform(
const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>&
submap_transforms,
const int trajectory_id) const {
auto begin_it = submap_transforms.BeginOfTrajectory(trajectory_id);
auto end_it = submap_transforms.EndOfTrajectory(trajectory_id);
if (begin_it == end_it) {
const auto it = initial_trajectory_poses_.find(trajectory_id);
if (it != initial_trajectory_poses_.end()) {
return GetInterpolatedGlobalTrajectoryPose(it->second.to_trajectory_id,
it->second.time) *
it->second.relative_pose;
} else {
return transform::Rigid3d::Identity();
}
}
const mapping::SubmapId last_optimized_submap_id = std::prev(end_it)->id;
// Accessing 'local_pose' in Submap is okay, since the member is const.
return submap_transforms.at(last_optimized_submap_id).global_pose *
submap_data_.at(last_optimized_submap_id)
.submap->local_pose()
.inverse();
}
mapping::PoseGraph::SubmapData PoseGraph::GetSubmapDataUnderLock(
const mapping::SubmapId& submap_id) {
const auto it = submap_data_.find(submap_id);
if (it == submap_data_.end()) {
return {};
}
auto submap = it->data.submap;
if (optimized_submap_transforms_.Contains(submap_id)) {
// We already have an optimized pose.
return {submap, optimized_submap_transforms_.at(submap_id).global_pose};
}
// We have to extrapolate.
return {submap, ComputeLocalToGlobalTransform(optimized_submap_transforms_,
submap_id.trajectory_id) *
submap->local_pose()};
}
PoseGraph::TrimmingHandle::TrimmingHandle(PoseGraph* const parent)
: parent_(parent) {}
int PoseGraph::TrimmingHandle::num_submaps(const int trajectory_id) const {
const auto& submap_data = parent_->optimization_problem_.submap_data();
return submap_data.SizeOfTrajectoryOrZero(trajectory_id);
}
void PoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
const mapping::SubmapId& submap_id) {
// TODO(hrapp): We have to make sure that the trajectory has been finished
// if we want to delete the last submaps.
CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished);
// Compile all nodes that are still INTRA_SUBMAP constrained once the submap
// with 'submap_id' is gone.
std::set<mapping::NodeId> nodes_to_retain;
for (const Constraint& constraint : parent_->constraints_) {
if (constraint.tag == Constraint::Tag::INTRA_SUBMAP &&
constraint.submap_id != submap_id) {
nodes_to_retain.insert(constraint.node_id);
}
}
// Remove all 'constraints_' related to 'submap_id'.
std::set<mapping::NodeId> nodes_to_remove;
{
std::vector<Constraint> constraints;
for (const Constraint& constraint : parent_->constraints_) {
if (constraint.submap_id == submap_id) {
if (constraint.tag == Constraint::Tag::INTRA_SUBMAP &&
nodes_to_retain.count(constraint.node_id) == 0) {
// This node will no longer be INTRA_SUBMAP contrained and has to be
// removed.
nodes_to_remove.insert(constraint.node_id);
}
} else {
constraints.push_back(constraint);
}
}
parent_->constraints_ = std::move(constraints);
}
// Remove all 'constraints_' related to 'nodes_to_remove'.
{
std::vector<Constraint> constraints;
for (const Constraint& constraint : parent_->constraints_) {
if (nodes_to_remove.count(constraint.node_id) == 0) {
constraints.push_back(constraint);
}
}
parent_->constraints_ = std::move(constraints);
}
// Mark the submap with 'submap_id' as trimmed and remove its data.
CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished);
parent_->submap_data_.Trim(submap_id);
parent_->constraint_builder_.DeleteScanMatcher(submap_id);
parent_->optimization_problem_.TrimSubmap(submap_id);
// Remove the 'nodes_to_remove' from the pose graph and the optimization
// problem.
for (const mapping::NodeId& node_id : nodes_to_remove) {
parent_->trajectory_nodes_.Trim(node_id);
parent_->optimization_problem_.TrimTrajectoryNode(node_id);
}
}
} // namespace mapping_3d
} // namespace cartographer
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