111 lines
4.5 KiB
C++
111 lines
4.5 KiB
C++
/*
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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_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_H_
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#define CARTOGRAPHER_MAPPING_3D_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_3d/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_3d {
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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.
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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, 6 /* residuals */,
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4 /* previous node rotation variables */,
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3 /* previous node translation variables */,
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4 /* next node rotation variables */,
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3 /* next node translation 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_rotation,
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const T* const prev_node_translation,
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const T* const next_node_rotation,
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const T* const next_node_translation,
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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_translation[0] +
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interpolation_parameter_ *
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(next_node_translation[0] - prev_node_translation[0]),
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prev_node_translation[1] +
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interpolation_parameter_ *
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(next_node_translation[1] - prev_node_translation[1]),
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prev_node_translation[2] +
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interpolation_parameter_ *
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(next_node_translation[2] - prev_node_translation[2])}};
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const std::array<T, 4> interpolated_pose_rotation = SlerpQuaternions(
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prev_node_rotation, next_node_rotation, 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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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 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_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_H_
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