111 lines
4.2 KiB
C++
111 lines
4.2 KiB
C++
/*
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* Copyright 2016 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_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_
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#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_
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#include <array>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/math.h"
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#include "cartographer/mapping/sparse_pose_graph.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_3d {
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namespace pose_graph {
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class SpaCostFunction {
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public:
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using Constraint = mapping::SparsePoseGraph::Constraint;
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explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
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// Computes the error between the node-to-submap alignment 'zbar_ij' and the
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// difference of submap pose 'c_i' and node pose 'c_j' which are both in an
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// arbitrary common frame.
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template <typename T>
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static std::array<T, 6> ComputeUnscaledError(
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const transform::Rigid3d& zbar_ij, const T* const c_i_rotation,
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const T* const c_i_translation, const T* const c_j_rotation,
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const T* const c_j_translation) {
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const Eigen::Quaternion<T> R_i_inverse(c_i_rotation[0], -c_i_rotation[1],
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-c_i_rotation[2], -c_i_rotation[3]);
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const Eigen::Matrix<T, 3, 1> delta(c_j_translation[0] - c_i_translation[0],
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c_j_translation[1] - c_i_translation[1],
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c_j_translation[2] - c_i_translation[2]);
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const Eigen::Matrix<T, 3, 1> h_translation = R_i_inverse * delta;
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const Eigen::Quaternion<T> h_rotation_inverse =
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Eigen::Quaternion<T>(c_j_rotation[0], -c_j_rotation[1],
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-c_j_rotation[2], -c_j_rotation[3]) *
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Eigen::Quaternion<T>(c_i_rotation[0], c_i_rotation[1], c_i_rotation[2],
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c_i_rotation[3]);
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const Eigen::Matrix<T, 3, 1> angle_axis_difference =
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transform::RotationQuaternionToAngleAxisVector(
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h_rotation_inverse * zbar_ij.rotation().cast<T>());
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return {{T(zbar_ij.translation().x()) - h_translation[0],
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T(zbar_ij.translation().y()) - h_translation[1],
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T(zbar_ij.translation().z()) - h_translation[2],
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angle_axis_difference[0], angle_axis_difference[1],
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angle_axis_difference[2]}};
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}
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// Computes the error scaled by 'translation_weight' and 'rotation_weight',
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// storing it in 'e'.
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template <typename T>
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static void ComputeScaledError(const Constraint::Pose& pose,
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const T* const c_i_rotation,
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const T* const c_i_translation,
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const T* const c_j_rotation,
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const T* const c_j_translation, T* const e) {
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const std::array<T, 6> e_ij =
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ComputeUnscaledError(pose.zbar_ij, c_i_rotation, c_i_translation,
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c_j_rotation, c_j_translation);
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for (int ij : {0, 1, 2}) {
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e[ij] = e_ij[ij] * T(pose.translation_weight);
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}
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for (int ij : {3, 4, 5}) {
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e[ij] = e_ij[ij] * T(pose.rotation_weight);
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}
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}
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template <typename T>
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bool operator()(const T* const c_i_rotation, const T* const c_i_translation,
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const T* const c_j_rotation, const T* const c_j_translation,
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T* const e) const {
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ComputeScaledError(pose_, c_i_rotation, c_i_translation, c_j_rotation,
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c_j_translation, e);
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return true;
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}
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private:
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const Constraint::Pose pose_;
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};
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} // namespace pose_graph
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_
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