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cartographer/cartographer/mapping/internal/optimization/optimization_problem_2d.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/internal/optimization/optimization_problem_2d.h"
#include <algorithm>
#include <array>
#include <cmath>
#include <map>
#include <memory>
#include <string>
#include <vector>
#include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/histogram.h"
#include "cartographer/common/math.h"
#include "cartographer/mapping/internal/optimization/ceres_pose.h"
#include "cartographer/mapping/internal/optimization/cost_functions/landmark_cost_function_2d.h"
#include "cartographer/mapping/internal/optimization/cost_functions/spa_cost_function_2d.h"
#include "cartographer/sensor/odometry_data.h"
#include "cartographer/transform/transform.h"
#include "ceres/ceres.h"
#include "glog/logging.h"
namespace cartographer {
namespace mapping {
namespace optimization {
namespace {
using ::cartographer::mapping::optimization::CeresPose;
using LandmarkNode = ::cartographer::mapping::PoseGraphInterface::LandmarkNode;
using TrajectoryData =
::cartographer::mapping::PoseGraphInterface::TrajectoryData;
// For fixed frame pose.
std::unique_ptr<transform::Rigid3d> Interpolate(
const sensor::MapByTime<sensor::FixedFramePoseData>& map_by_time,
const int trajectory_id, const common::Time time) {
const auto it = map_by_time.lower_bound(trajectory_id, time);
if (it == map_by_time.EndOfTrajectory(trajectory_id) ||
!it->pose.has_value()) {
return nullptr;
}
if (it == map_by_time.BeginOfTrajectory(trajectory_id)) {
if (it->time == time) {
return absl::make_unique<transform::Rigid3d>(it->pose.value());
}
return nullptr;
}
const auto prev_it = std::prev(it);
if (prev_it->pose.has_value()) {
return absl::make_unique<transform::Rigid3d>(
Interpolate(transform::TimestampedTransform{prev_it->time,
prev_it->pose.value()},
transform::TimestampedTransform{it->time, it->pose.value()},
time)
.transform);
}
return nullptr;
}
// Converts a pose into the 3 optimization variable format used for Ceres:
// translation in x and y, followed by the rotation angle representing the
// orientation.
std::array<double, 3> FromPose(const transform::Rigid2d& pose) {
return {{pose.translation().x(), pose.translation().y(),
pose.normalized_angle()}};
}
// Converts a pose as represented for Ceres back to an transform::Rigid2d pose.
transform::Rigid2d ToPose(const std::array<double, 3>& values) {
return transform::Rigid2d({values[0], values[1]}, values[2]);
}
// Selects a trajectory node closest in time to the landmark observation and
// applies a relative transform from it.
transform::Rigid3d GetInitialLandmarkPose(
const LandmarkNode::LandmarkObservation& observation,
const NodeSpec2D& prev_node, const NodeSpec2D& next_node,
const std::array<double, 3>& prev_node_pose,
const std::array<double, 3>& next_node_pose) {
const double interpolation_parameter =
common::ToSeconds(observation.time - prev_node.time) /
common::ToSeconds(next_node.time - prev_node.time);
const std::tuple<std::array<double, 4>, std::array<double, 3>>
rotation_and_translation =
InterpolateNodes2D(prev_node_pose.data(), prev_node.gravity_alignment,
next_node_pose.data(), next_node.gravity_alignment,
interpolation_parameter);
return transform::Rigid3d::FromArrays(std::get<0>(rotation_and_translation),
std::get<1>(rotation_and_translation)) *
observation.landmark_to_tracking_transform;
}
void AddLandmarkCostFunctions(
const std::map<std::string, LandmarkNode>& landmark_nodes,
const MapById<NodeId, NodeSpec2D>& node_data,
MapById<NodeId, std::array<double, 3>>* C_nodes,
std::map<std::string, CeresPose>* C_landmarks, ceres::Problem* problem,
double huber_scale) {
for (const auto& landmark_node : landmark_nodes) {
for (const auto& observation : landmark_node.second.landmark_observations) {
const std::string& landmark_id = landmark_node.first;
const auto& begin_of_trajectory =
node_data.BeginOfTrajectory(observation.trajectory_id);
// The landmark observation was made before the trajectory was created.
if (observation.time < begin_of_trajectory->data.time) {
continue;
}
// Find the trajectory nodes before and after the landmark observation.
auto next =
node_data.lower_bound(observation.trajectory_id, observation.time);
// The landmark observation was made, but the next trajectory node has
// not been added yet.
if (next == node_data.EndOfTrajectory(observation.trajectory_id)) {
continue;
}
if (next == begin_of_trajectory) {
next = std::next(next);
}
auto prev = std::prev(next);
// Add parameter blocks for the landmark ID if they were not added before.
std::array<double, 3>* prev_node_pose = &C_nodes->at(prev->id);
std::array<double, 3>* next_node_pose = &C_nodes->at(next->id);
if (!C_landmarks->count(landmark_id)) {
const transform::Rigid3d starting_point =
landmark_node.second.global_landmark_pose.has_value()
? landmark_node.second.global_landmark_pose.value()
: GetInitialLandmarkPose(observation, prev->data, next->data,
*prev_node_pose, *next_node_pose);
C_landmarks->emplace(
landmark_id,
CeresPose(starting_point, nullptr /* translation_parametrization */,
absl::make_unique<ceres::QuaternionParameterization>(),
problem));
// Set landmark constant if it is frozen.
if (landmark_node.second.frozen) {
problem->SetParameterBlockConstant(
C_landmarks->at(landmark_id).translation());
problem->SetParameterBlockConstant(
C_landmarks->at(landmark_id).rotation());
}
}
problem->AddResidualBlock(
LandmarkCostFunction2D::CreateAutoDiffCostFunction(
observation, prev->data, next->data),
new ceres::HuberLoss(huber_scale), prev_node_pose->data(),
next_node_pose->data(), C_landmarks->at(landmark_id).rotation(),
C_landmarks->at(landmark_id).translation());
}
}
}
} // namespace
OptimizationProblem2D::OptimizationProblem2D(
const proto::OptimizationProblemOptions& options)
: options_(options) {}
OptimizationProblem2D::~OptimizationProblem2D() {}
void OptimizationProblem2D::AddImuData(const int trajectory_id,
const sensor::ImuData& imu_data) {
// IMU data is not used in 2D optimization, so we ignore this part of the
// interface.
}
void OptimizationProblem2D::AddOdometryData(
const int trajectory_id, const sensor::OdometryData& odometry_data) {
odometry_data_.Append(trajectory_id, odometry_data);
}
void OptimizationProblem2D::AddFixedFramePoseData(
const int trajectory_id,
const sensor::FixedFramePoseData& fixed_frame_pose_data) {
fixed_frame_pose_data_.Append(trajectory_id, fixed_frame_pose_data);
}
void OptimizationProblem2D::AddTrajectoryNode(const int trajectory_id,
const NodeSpec2D& node_data) {
node_data_.Append(trajectory_id, node_data);
trajectory_data_[trajectory_id];
}
void OptimizationProblem2D::SetTrajectoryData(
int trajectory_id, const TrajectoryData& trajectory_data) {
trajectory_data_[trajectory_id] = trajectory_data;
}
void OptimizationProblem2D::InsertTrajectoryNode(const NodeId& node_id,
const NodeSpec2D& node_data) {
node_data_.Insert(node_id, node_data);
trajectory_data_[node_id.trajectory_id];
}
void OptimizationProblem2D::TrimTrajectoryNode(const NodeId& node_id) {
empty_imu_data_.Trim(node_data_, node_id);
odometry_data_.Trim(node_data_, node_id);
fixed_frame_pose_data_.Trim(node_data_, node_id);
node_data_.Trim(node_id);
if (node_data_.SizeOfTrajectoryOrZero(node_id.trajectory_id) == 0) {
trajectory_data_.erase(node_id.trajectory_id);
}
}
void OptimizationProblem2D::AddSubmap(
const int trajectory_id, const transform::Rigid2d& global_submap_pose) {
submap_data_.Append(trajectory_id, SubmapSpec2D{global_submap_pose});
}
void OptimizationProblem2D::InsertSubmap(
const SubmapId& submap_id, const transform::Rigid2d& global_submap_pose) {
submap_data_.Insert(submap_id, SubmapSpec2D{global_submap_pose});
}
void OptimizationProblem2D::TrimSubmap(const SubmapId& submap_id) {
submap_data_.Trim(submap_id);
}
void OptimizationProblem2D::SetMaxNumIterations(
const int32 max_num_iterations) {
options_.mutable_ceres_solver_options()->set_max_num_iterations(
max_num_iterations);
}
void OptimizationProblem2D::Solve(
const std::vector<Constraint>& constraints,
const std::map<int, PoseGraphInterface::TrajectoryState>&
trajectories_state,
const std::map<std::string, LandmarkNode>& landmark_nodes) {
if (node_data_.empty()) {
// Nothing to optimize.
return;
}
std::set<int> frozen_trajectories;
for (const auto& it : trajectories_state) {
if (it.second == PoseGraphInterface::TrajectoryState::FROZEN) {
frozen_trajectories.insert(it.first);
}
}
ceres::Problem::Options problem_options;
ceres::Problem problem(problem_options);
// Set the starting point.
// TODO(hrapp): Move ceres data into SubmapSpec.
MapById<SubmapId, std::array<double, 3>> C_submaps;
MapById<NodeId, std::array<double, 3>> C_nodes;
std::map<std::string, CeresPose> C_landmarks;
bool first_submap = true;
for (const auto& submap_id_data : submap_data_) {
const bool frozen =
frozen_trajectories.count(submap_id_data.id.trajectory_id) != 0;
C_submaps.Insert(submap_id_data.id,
FromPose(submap_id_data.data.global_pose));
problem.AddParameterBlock(C_submaps.at(submap_id_data.id).data(), 3);
if (first_submap || frozen) {
first_submap = false;
// Fix the pose of the first submap or all submaps of a frozen
// trajectory.
problem.SetParameterBlockConstant(C_submaps.at(submap_id_data.id).data());
}
}
for (const auto& node_id_data : node_data_) {
const bool frozen =
frozen_trajectories.count(node_id_data.id.trajectory_id) != 0;
C_nodes.Insert(node_id_data.id, FromPose(node_id_data.data.global_pose_2d));
problem.AddParameterBlock(C_nodes.at(node_id_data.id).data(), 3);
if (frozen) {
problem.SetParameterBlockConstant(C_nodes.at(node_id_data.id).data());
}
}
// Add cost functions for intra- and inter-submap constraints.
for (const Constraint& constraint : constraints) {
problem.AddResidualBlock(
CreateAutoDiffSpaCostFunction(constraint.pose),
// Loop closure constraints should have a loss function.
constraint.tag == Constraint::INTER_SUBMAP
? new ceres::HuberLoss(options_.huber_scale())
: nullptr,
C_submaps.at(constraint.submap_id).data(),
C_nodes.at(constraint.node_id).data());
}
// Add cost functions for landmarks.
AddLandmarkCostFunctions(landmark_nodes, node_data_, &C_nodes, &C_landmarks,
&problem, options_.huber_scale());
// Add penalties for violating odometry or changes between consecutive nodes
// if odometry is not available.
for (auto node_it = node_data_.begin(); node_it != node_data_.end();) {
const int trajectory_id = node_it->id.trajectory_id;
const auto trajectory_end = node_data_.EndOfTrajectory(trajectory_id);
if (frozen_trajectories.count(trajectory_id) != 0) {
node_it = trajectory_end;
continue;
}
auto prev_node_it = node_it;
for (++node_it; node_it != trajectory_end; ++node_it) {
const NodeId first_node_id = prev_node_it->id;
const NodeSpec2D& first_node_data = prev_node_it->data;
prev_node_it = node_it;
const NodeId second_node_id = node_it->id;
const NodeSpec2D& second_node_data = node_it->data;
if (second_node_id.node_index != first_node_id.node_index + 1) {
continue;
}
// Add a relative pose constraint based on the odometry (if available).
std::unique_ptr<transform::Rigid3d> relative_odometry =
CalculateOdometryBetweenNodes(trajectory_id, first_node_data,
second_node_data);
if (relative_odometry != nullptr) {
problem.AddResidualBlock(
CreateAutoDiffSpaCostFunction(Constraint::Pose{
*relative_odometry, options_.odometry_translation_weight(),
options_.odometry_rotation_weight()}),
nullptr /* loss function */, C_nodes.at(first_node_id).data(),
C_nodes.at(second_node_id).data());
}
// Add a relative pose constraint based on consecutive local SLAM poses.
const transform::Rigid3d relative_local_slam_pose =
transform::Embed3D(first_node_data.local_pose_2d.inverse() *
second_node_data.local_pose_2d);
problem.AddResidualBlock(
CreateAutoDiffSpaCostFunction(
Constraint::Pose{relative_local_slam_pose,
options_.local_slam_pose_translation_weight(),
options_.local_slam_pose_rotation_weight()}),
nullptr /* loss function */, C_nodes.at(first_node_id).data(),
C_nodes.at(second_node_id).data());
}
}
std::map<int, std::array<double, 3>> C_fixed_frames;
for (auto node_it = node_data_.begin(); node_it != node_data_.end();) {
const int trajectory_id = node_it->id.trajectory_id;
const auto trajectory_end = node_data_.EndOfTrajectory(trajectory_id);
if (!fixed_frame_pose_data_.HasTrajectory(trajectory_id)) {
node_it = trajectory_end;
continue;
}
const TrajectoryData& trajectory_data = trajectory_data_.at(trajectory_id);
bool fixed_frame_pose_initialized = false;
for (; node_it != trajectory_end; ++node_it) {
const NodeId node_id = node_it->id;
const NodeSpec2D& node_data = node_it->data;
const std::unique_ptr<transform::Rigid3d> fixed_frame_pose =
Interpolate(fixed_frame_pose_data_, trajectory_id, node_data.time);
if (fixed_frame_pose == nullptr) {
continue;
}
const Constraint::Pose constraint_pose{
*fixed_frame_pose, options_.fixed_frame_pose_translation_weight(),
options_.fixed_frame_pose_rotation_weight()};
if (!fixed_frame_pose_initialized) {
transform::Rigid2d fixed_frame_pose_in_map;
if (trajectory_data.fixed_frame_origin_in_map.has_value()) {
fixed_frame_pose_in_map = transform::Project2D(
trajectory_data.fixed_frame_origin_in_map.value());
} else {
fixed_frame_pose_in_map =
node_data.global_pose_2d *
transform::Project2D(constraint_pose.zbar_ij).inverse();
}
C_fixed_frames.emplace(trajectory_id,
FromPose(fixed_frame_pose_in_map));
fixed_frame_pose_initialized = true;
}
problem.AddResidualBlock(
CreateAutoDiffSpaCostFunction(constraint_pose),
options_.fixed_frame_pose_use_tolerant_loss()
? new ceres::TolerantLoss(
options_.fixed_frame_pose_tolerant_loss_param_a(),
options_.fixed_frame_pose_tolerant_loss_param_b())
: nullptr,
C_fixed_frames.at(trajectory_id).data(), C_nodes.at(node_id).data());
}
}
// Solve.
ceres::Solver::Summary summary;
ceres::Solve(
common::CreateCeresSolverOptions(options_.ceres_solver_options()),
&problem, &summary);
if (options_.log_solver_summary()) {
LOG(INFO) << summary.FullReport();
}
// Store the result.
for (const auto& C_submap_id_data : C_submaps) {
submap_data_.at(C_submap_id_data.id).global_pose =
ToPose(C_submap_id_data.data);
}
for (const auto& C_node_id_data : C_nodes) {
node_data_.at(C_node_id_data.id).global_pose_2d =
ToPose(C_node_id_data.data);
}
for (const auto& C_fixed_frame : C_fixed_frames) {
trajectory_data_.at(C_fixed_frame.first).fixed_frame_origin_in_map =
transform::Embed3D(ToPose(C_fixed_frame.second));
}
for (const auto& C_landmark : C_landmarks) {
landmark_data_[C_landmark.first] = C_landmark.second.ToRigid();
}
}
std::unique_ptr<transform::Rigid3d> OptimizationProblem2D::InterpolateOdometry(
const int trajectory_id, const common::Time time) const {
const auto it = odometry_data_.lower_bound(trajectory_id, time);
if (it == odometry_data_.EndOfTrajectory(trajectory_id)) {
return nullptr;
}
if (it == odometry_data_.BeginOfTrajectory(trajectory_id)) {
if (it->time == time) {
return absl::make_unique<transform::Rigid3d>(it->pose);
}
return nullptr;
}
const auto prev_it = std::prev(it);
return absl::make_unique<transform::Rigid3d>(
Interpolate(transform::TimestampedTransform{prev_it->time, prev_it->pose},
transform::TimestampedTransform{it->time, it->pose}, time)
.transform);
}
std::unique_ptr<transform::Rigid3d>
OptimizationProblem2D::CalculateOdometryBetweenNodes(
const int trajectory_id, const NodeSpec2D& first_node_data,
const NodeSpec2D& second_node_data) const {
if (odometry_data_.HasTrajectory(trajectory_id)) {
const std::unique_ptr<transform::Rigid3d> first_node_odometry =
InterpolateOdometry(trajectory_id, first_node_data.time);
const std::unique_ptr<transform::Rigid3d> second_node_odometry =
InterpolateOdometry(trajectory_id, second_node_data.time);
if (first_node_odometry != nullptr && second_node_odometry != nullptr) {
transform::Rigid3d relative_odometry =
transform::Rigid3d::Rotation(first_node_data.gravity_alignment) *
first_node_odometry->inverse() * (*second_node_odometry) *
transform::Rigid3d::Rotation(
second_node_data.gravity_alignment.inverse());
return absl::make_unique<transform::Rigid3d>(relative_odometry);
}
}
return nullptr;
}
} // namespace optimization
} // namespace mapping
} // namespace cartographer
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