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OptimizerG2O: improve priors SE3/SE2 vs XYZ/XY logic

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This commit is contained in:
TSC21
2018-12-27 12:48:24 +00:00
parent b7f2eb8df9
commit 81c4382349
1 changed files with 45 additions and 39 deletions
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84
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -397,7 +397,26 @@ std::map<int, Transform> OptimizerG2O::optimize(
{ {
if(isSlam2d()) if(isSlam2d())
{ {
if (iter->second.infMatrix().at<double>(3,3) <= 9999 && iter->second.infMatrix().at<double>(4,4) <= 9999 && iter->second.infMatrix().at<double>(5,5) <= 9999) if (static_cast<double>(iter->second.infMatrix().at<double>(5,5)) > 9999.0 ||
static_cast<double>(iter->second.infMatrix().at<double>(5,5)) == 0.0)
{
g2o::EdgeXYPrior * priorEdge = new g2o::EdgeXYPrior();
g2o::VertexPointXY* v1 = (g2o::VertexPointXY*)optimizer.vertex(id1);
priorEdge->setVertex(0, v1);
priorEdge->setMeasurement(g2o::Vector2(iter->second.transform().x(), iter->second.transform().y()));
priorEdge->setParameterId(0, PARAM_OFFSET);
Eigen::Matrix<double, 2, 2> information = Eigen::Matrix<double, 2, 2>::Identity();
if(!isCovarianceIgnored())
{
information(0,0) = iter->second.infMatrix().at<double>(0,0); // x-x
information(0,1) = iter->second.infMatrix().at<double>(0,1); // x-y
information(1,0) = iter->second.infMatrix().at<double>(1,0); // y-x
information(1,1) = iter->second.infMatrix().at<double>(1,1); // y-y
}
priorEdge->setInformation(information);
edge = priorEdge;
}
else
{ {
g2o::EdgeSE2Prior * priorEdge = new g2o::EdgeSE2Prior(); g2o::EdgeSE2Prior * priorEdge = new g2o::EdgeSE2Prior();
g2o::VertexSE2* v1 = (g2o::VertexSE2*)optimizer.vertex(id1); g2o::VertexSE2* v1 = (g2o::VertexSE2*)optimizer.vertex(id1);
@@ -420,47 +439,15 @@ std::map<int, Transform> OptimizerG2O::optimize(
priorEdge->setInformation(information); priorEdge->setInformation(information);
edge = priorEdge; edge = priorEdge;
} }
else
{
g2o::EdgeXYPrior * priorEdge = new g2o::EdgeXYPrior();
g2o::VertexPointXY* v1 = (g2o::VertexPointXY*)optimizer.vertex(id1);
priorEdge->setVertex(0, v1);
priorEdge->setMeasurement(g2o::Vector2(iter->second.transform().x(), iter->second.transform().y()));
priorEdge->setParameterId(0, PARAM_OFFSET);
Eigen::Matrix<double, 2, 2> information = Eigen::Matrix<double, 2, 2>::Identity();
if(!isCovarianceIgnored())
{
information(0,0) = iter->second.infMatrix().at<double>(0,0); // x-x
information(0,1) = iter->second.infMatrix().at<double>(0,1); // x-y
information(1,0) = iter->second.infMatrix().at<double>(1,0); // y-x
information(1,1) = iter->second.infMatrix().at<double>(1,1); // y-y
}
priorEdge->setInformation(information);
edge = priorEdge;
}
} }
else else
{ {
if (iter->second.infMatrix().at<double>(3,3) <= 9999 && iter->second.infMatrix().at<double>(4,4) <= 9999 && iter->second.infMatrix().at<double>(5,5) <= 9999) if ((static_cast<double>(iter->second.infMatrix().at<double>(3,3)) > 9999.0 &&
{ static_cast<double>(iter->second.infMatrix().at<double>(4,4)) > 9999.0 &&
g2o::EdgeSE3Prior * priorEdge = new g2o::EdgeSE3Prior(); static_cast<double>(iter->second.infMatrix().at<double>(5,5)) > 9999.0) ||
g2o::VertexSE3* v1 = (g2o::VertexSE3*)optimizer.vertex(id1); (static_cast<double>(iter->second.infMatrix().at<double>(3,3)) == 0.0 &&
priorEdge->setVertex(0, v1); static_cast<double>(iter->second.infMatrix().at<double>(4,4)) == 0.0 &&
Eigen::Affine3d a = iter->second.transform().toEigen3d(); static_cast<double>(iter->second.infMatrix().at<double>(5,5)) == 0.0))
Eigen::Isometry3d pose;
pose = a.linear();
pose.translation() = a.translation();
priorEdge->setMeasurement(pose);
priorEdge->setParameterId(0, PARAM_OFFSET);
Eigen::Matrix<double, 6, 6> information = Eigen::Matrix<double, 6, 6>::Identity();
if(!isCovarianceIgnored())
{
memcpy(information.data(), iter->second.infMatrix().data, iter->second.infMatrix().total()*sizeof(double));
}
priorEdge->setInformation(information);
edge = priorEdge;
}
else
{ {
g2o::EdgeXYZPrior * priorEdge = new g2o::EdgeXYZPrior(); g2o::EdgeXYZPrior * priorEdge = new g2o::EdgeXYZPrior();
g2o::VertexPointXYZ* v1 = (g2o::VertexPointXYZ*)optimizer.vertex(id1); g2o::VertexPointXYZ* v1 = (g2o::VertexPointXYZ*)optimizer.vertex(id1);
@@ -483,6 +470,25 @@ std::map<int, Transform> OptimizerG2O::optimize(
priorEdge->setInformation(information); priorEdge->setInformation(information);
edge = priorEdge; edge = priorEdge;
} }
else
{
g2o::EdgeSE3Prior * priorEdge = new g2o::EdgeSE3Prior();
g2o::VertexSE3* v1 = (g2o::VertexSE3*)optimizer.vertex(id1);
priorEdge->setVertex(0, v1);
Eigen::Affine3d a = iter->second.transform().toEigen3d();
Eigen::Isometry3d pose;
pose = a.linear();
pose.translation() = a.translation();
priorEdge->setMeasurement(pose);
priorEdge->setParameterId(0, PARAM_OFFSET);
Eigen::Matrix<double, 6, 6> information = Eigen::Matrix<double, 6, 6>::Identity();
if(!isCovarianceIgnored())
{
memcpy(information.data(), iter->second.infMatrix().data, iter->second.infMatrix().total()*sizeof(double));
}
priorEdge->setInformation(information);
edge = priorEdge;
}
} }
} }
} }