mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 09:17:47 +08:00
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
This commit is contained in:
Mathieu Labbe
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/**********************************************************************
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*
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* This source code is part of the Tree-based Network Optimizer (TORO)
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*
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* TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss,
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* Slawomir Grzonka and Wolfram Burgard
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*
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* TORO is licences under the Common Creative License,
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* Attribution-NonCommercial-ShareAlike 3.0
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*
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* You are free:
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* - to Share - to copy, distribute and transmit the work
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* - to Remix - to adapt the work
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*
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* Under the following conditions:
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*
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* - Attribution. You must attribute the work in the manner specified
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* by the author or licensor (but not in any way that suggests that
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* they endorse you or your use of the work).
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*
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* - Noncommercial. You may not use this work for commercial purposes.
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*
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* - Share Alike. If you alter, transform, or build upon this work,
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* you may distribute the resulting work only under the same or
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* similar license to this one.
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*
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* Any of the above conditions can be waived if you get permission
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* from the copyright holder. Nothing in this license impairs or
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* restricts the author's moral rights.
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*
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* TORO is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE.
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**********************************************************************/
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/** \file posegraph2.cpp
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*
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* \brief Defines the graph of 2D poses, with specific functionalities
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* such as loading, saving, merging constraints, and etc.
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**/
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#include "posegraph2.hh"
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#include <fstream>
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#include <sstream>
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#include <string>
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using namespace std;
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namespace AISNavigation {
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#define LINESIZE 81920
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#define DEBUG(i) \
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if (verboseLevel>i) cerr
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bool TreePoseGraph2::load(const char* filename, bool overrideCovariances){
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clear();
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ifstream is(filename);
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if (!is)
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return false;
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while(is){
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char buf[LINESIZE];
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is.getline(buf,LINESIZE);
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istringstream ls(buf);
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string tag;
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ls >> tag;
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if (tag=="VERTEX" || tag=="VERTEX2"){
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int id;
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Pose p;
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ls >> id >> p.x() >> p.y() >> p.theta();
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if (addVertex(id,p))
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DEBUG(2) << "V " << id << endl;
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}
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if (tag=="EDGE" || tag=="EDGE2"){
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int id1, id2;
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Pose p;
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InformationMatrix m;
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ls >> id1 >> id2 >> p.x() >> p.y() >> p.theta();
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if (overrideCovariances){
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m.values[0][0]=1; m.values[1][1]=1; m.values[2][2]=1;
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m.values[0][1]=0; m.values[0][2]=0; m.values[1][2]=0;
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} else {
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ls >> m.values[0][0] >> m.values[0][1] >> m.values [1][1]
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>> m.values[2][2] >> m.values[0][2] >> m.values [1][2];
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}
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m.values[1][0]=m.values[0][1];
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m.values[2][0]=m.values[0][2];
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m.values[2][1]=m.values[1][2];
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TreePoseGraph2::Vertex* v1=vertex(id1);
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TreePoseGraph2::Vertex* v2=vertex(id2);
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Transformation t(p);
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if (addEdge(v1, v2,t ,m))
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DEBUG(2) << "E " << id1 << " " << id2 << endl;
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}
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}
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return true;
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}
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bool TreePoseGraph2::loadEquivalences(const char* filename){
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ifstream is(filename);
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if (!is)
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return false;
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EdgeList suppressed;
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uint equivCount=0;
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while (is){
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char buf[LINESIZE];
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is.getline(buf, LINESIZE);
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istringstream ls(buf);
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string tag;
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ls >> tag;
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if (tag=="EQUIV"){
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int id1, id2;
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ls >> id1 >> id2;
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Edge* e=edge(id1,id2);
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if (!e)
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e=edge(id2,id1);
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if (e){
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suppressed.push_back(e);
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equivCount++;
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}
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}
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}
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for (EdgeList::iterator it=suppressed.begin(); it!=suppressed.end(); it++){
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Edge* e=*it;
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if (e->v1->id > e->v2->id)
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revertEdge(e);
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collapseEdge(e);
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}
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for (TreePoseGraph2::VertexMap::iterator it=vertices.begin(); it!=vertices.end(); it++){
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Vertex* v=it->second;
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v->edges.clear();
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}
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for (TreePoseGraph2::EdgeMap::iterator it=edges.begin(); it!=edges.end(); it++){
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TreePoseGraph2::Edge * e=it->second;
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e->v1->edges.push_back(e);
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e->v2->edges.push_back(e);
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}
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return true;
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}
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bool TreePoseGraph2::saveGnuplot(const char* filename){
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ofstream os(filename);
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if (!os)
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return false;
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for (TreePoseGraph2::EdgeMap::const_iterator it=edges.begin(); it!=edges.end(); it++){
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const TreePoseGraph2::Edge * e=it->second;
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const Vertex* v1=e->v1;
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const Vertex* v2=e->v2;
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os << v1->pose.x() << " " << v1->pose.y() << " " << v1->pose.theta() << endl;
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os << v2->pose.x() << " " << v2->pose.y() << " " << v2->pose.theta() << endl;
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os << endl;
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}
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return true;
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}
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bool TreePoseGraph2::save(const char* filename){
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ofstream os(filename);
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if (!os)
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return false;
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for (TreePoseGraph2::VertexMap::const_iterator it=vertices.begin(); it!=vertices.end(); it++){
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const TreePoseGraph2::Vertex* v=it->second;
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os << "VERTEX "
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<< v->id << " "
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<< v->pose.x() << " "
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<< v->pose.y() << " "
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<< v->pose.theta()<< endl;
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}
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for (TreePoseGraph2::EdgeMap::const_iterator it=edges.begin(); it!=edges.end(); it++){
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const TreePoseGraph2::Edge * e=it->second;
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os << "EDGE " << e->v1->id << " " << e->v2->id << " ";
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Pose p=e->transformation.toPoseType();
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os << p.x() << " " << p.y() << " " << p.theta() << " ";
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os << e->informationMatrix.values[0][0] << " "
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<< e->informationMatrix.values[0][1] << " "
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<< e->informationMatrix.values[1][1] << " "
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<< e->informationMatrix.values[2][2] << " "
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<< e->informationMatrix.values[0][2] << " "
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<< e->informationMatrix.values[1][2] << endl;
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}
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return true;
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}
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/** \brief A class (struct) used to print vertex information to a
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stream. Needed for debugging. **/
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struct IdPrinter{
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IdPrinter(std::ostream& _os):os(_os){}
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std::ostream& os;
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void perform(TreePoseGraph2::Vertex* v){
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std::cout << "(" << v->id << "," << v->level << ")" << endl;
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}
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};
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void TreePoseGraph2::printDepth( std::ostream& os ){
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IdPrinter ip(os);
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treeDepthVisit(ip, root);
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}
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void TreePoseGraph2::printWidth( std::ostream& os ){
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IdPrinter ip(os);
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treeBreadthVisit(ip);
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}
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/** \brief A class (struct) for realizing the pose update of the
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individual nodes. Assumes the correct order of constraint updates
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(according to the tree level, see RSS07 paper)**/
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struct PosePropagator{
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void perform(TreePoseGraph2::Vertex* v){
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if (!v->parent)
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return;
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TreePoseGraph2::Transformation tParent(v->parent->pose);
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TreePoseGraph2::Transformation tNode=tParent*v->parentEdge->transformation;
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//cerr << "EDGE(" << v->parentEdge->v1->id << "," << v->parentEdge->v2->id <<"): " << endl;
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//Pose pParent=v->parent->pose;
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//cerr << " p=" << pParent.x() << "," << pParent.y() << "," << pParent.theta() << endl;
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//Pose pEdge=v->parentEdge->transformation.toPoseType();
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//cerr << " m=" << pEdge.x() << "," << pEdge.y() << "," << pEdge.theta() << endl;
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//Pose pNode=tNode.toPoseType();
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//cerr << " n=" << pNode.x() << "," << pNode.y() << "," << pNode.theta() << endl;
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assert(v->parentEdge->v1==v->parent);
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assert(v->parentEdge->v2==v);
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v->pose=tNode.toPoseType();
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}
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};
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void TreePoseGraph2::initializeOnTree(){
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PosePropagator pp;
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treeDepthVisit(pp, root);
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}
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void TreePoseGraph2::printEdgesStat(std::ostream& os){
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for (TreePoseGraph2::EdgeMap::const_iterator it=edges.begin(); it!=edges.end(); it++){
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const TreePoseGraph2::Edge * e=it->second;
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os << "EDGE " << e->v1->id << " " << e->v2->id << " ";
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Pose p=e->transformation.toPoseType();
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os << p.x() << " " << p.y() << " " << p.theta() << " ";
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os << e->informationMatrix.values[0][0] << " "
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<< e->informationMatrix.values[0][1] << " "
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<< e->informationMatrix.values[1][1] << " "
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<< e->informationMatrix.values[2][2] << " "
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<< e->informationMatrix.values[0][2] << " "
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<< e->informationMatrix.values[1][2] << endl;
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os << " top=" << e->top->id << " length=" << e->length << endl;
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}
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}
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void TreePoseGraph2::revertEdgeInfo(Edge* e){
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Transformation it=e->transformation.inv();
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InformationMatrix R;
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R.values[0][0]=e->transformation.rotationMatrix[0][0];
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R.values[0][1]=e->transformation.rotationMatrix[0][1];
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R.values[0][2]=0;
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R.values[1][0]=e->transformation.rotationMatrix[1][0];
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R.values[1][1]=e->transformation.rotationMatrix[1][1];
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R.values[1][2]=0;
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R.values[2][0]=0;
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R.values[2][1]=0;
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R.values[2][2]=1;
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InformationMatrix IM=R.transpose()*e->informationMatrix*R;
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Pose np=e->transformation.toPoseType();
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Pose ip=it.toPoseType();
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Transformation tc=it*e->transformation;
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Pose pc=tc.toPoseType();
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e->transformation=it;
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e->informationMatrix=IM;
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};
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void TreePoseGraph2::initializeFromParentEdge(Vertex* v){
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Transformation tp=Transformation(v->parent->pose)*v->parentEdge->transformation;
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v->transformation=tp;
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v->pose=tp.toPoseType();
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v->parameters=v->pose;
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v->parameters.x()-=v->parent->pose.x();
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v->parameters.y()-=v->parent->pose.y();
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v->parameters.theta()-=v->parent->pose.theta();
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v->parameters.theta()=atan2(sin(v->parameters.theta()), cos(v->parameters.theta()));
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}
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void TreePoseGraph2::collapseEdge(Edge* e){
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EdgeMap::iterator ie_it=edges.find(e);
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if (ie_it==edges.end())
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return;
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VertexMap::iterator it1=vertices.find(e->v1->id);
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VertexMap::iterator it2=vertices.find(e->v2->id);
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assert(it1!=vertices.end());
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assert(it2!=vertices.end());
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Vertex* v1=e->v1;
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Vertex* v2=e->v2;
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// all the edges of v2 become outgoing
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for (EdgeList::iterator it=v2->edges.begin(); it!=v2->edges.end(); it++){
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if ( (*it)->v1!=v2 )
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revertEdge(*it);
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}
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// all the edges of v1 become outgoing
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for (EdgeList::iterator it=v1->edges.begin(); it!=v1->edges.end(); it++){
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if ( (*it)->v1!=v1 )
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revertEdge(*it);
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}
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assert(e->v1==v1);
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InformationMatrix I12=e->informationMatrix;
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CovarianceMatrix C12=I12.inv();
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Transformation T12=e->transformation;
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Pose p12=T12.toPoseType();
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Transformation iT12=T12.inv();
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//compute the marginal information of the nodes in the path v1-v2-v*
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for (EdgeList::iterator it2=v2->edges.begin(); it2!=v2->edges.end(); it2++){
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Edge* e2=*it2;
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if (e2->v1==v2){ //edge leaving v2
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Transformation T2x=e2->transformation;
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Pose p2x=T2x.toPoseType();
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InformationMatrix I2x=e2->informationMatrix;
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CovarianceMatrix C2x=I2x.inv();
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//compute the estimate of the vertex based on the path v1-v2-vx
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Transformation tr=iT12*T2x;
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InformationMatrix R;
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R.values[0][0]=tr.rotationMatrix[0][0];
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R.values[0][1]=tr.rotationMatrix[0][1];
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R.values[0][2]=0;
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R.values[1][0]=tr.rotationMatrix[1][0];
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R.values[1][1]=tr.rotationMatrix[1][1];
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R.values[1][2]=0;
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R.values[2][0]=0;
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R.values[2][1]=0;
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R.values[2][2]=1;
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CovarianceMatrix CM=R.transpose()*C2x*R;
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Transformation T1x_pred=T12*e2->transformation;
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Covariance C1x_pred=C12+C2x;
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InformationMatrix I1x_pred=C1x_pred.inv();
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e2->transformation=T1x_pred;
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e2->informationMatrix=I1x_pred;
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}
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}
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//all the edges leaving v1 and leaving v2 and leading to the same point are merged
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std::list<Transformation> tList;
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std::list<InformationMatrix> iList;
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std::list<Vertex*> vList;
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//others are transformed and added to v1
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for (EdgeList::iterator it2=v2->edges.begin(); it2!=v2->edges.end(); it2++){
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Edge* e1x=0;
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Edge* e2x=0;
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if ( ((*it2)->v1!=v1)){
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e2x=*it2;
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for (EdgeList::iterator it1=v1->edges.begin(); it1!=v1->edges.end(); it1++){
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if ((*it1)->v2==(*it2)->v2)
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e1x=*it1;
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}
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}
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if (e1x && e2x){
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Transformation t1x=e1x->transformation;
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InformationMatrix I1x=e1x->informationMatrix;
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Pose p1x=t1x.toPoseType();
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Transformation t2x=e2x->transformation;
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InformationMatrix I2x=e2x->informationMatrix;;
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Pose p2x=t2x.toPoseType();
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InformationMatrix IM=I1x+I2x;
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CovarianceMatrix CM=IM.inv();
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InformationMatrix scale1=CM*I1x;
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InformationMatrix scale2=CM*I2x;
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Pose p1=scale1*p1x;
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Pose p2=scale2*p2x;
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//need to recover the angles in a decent way.
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double s=scale1.values[2][2]*sin(p1x.theta())+ scale2.values[2][2]*sin(p2x.theta());
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double c=scale1.values[2][2]*cos(p1x.theta())+ scale2.values[2][2]*cos(p2x.theta());
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DEBUG(2) << "p1x= " << p1x.x() << " " << p1x.y() << " " << p1x.theta() << endl;
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DEBUG(2) << "p1x_pred= " << p2x.x() << " " << p2x.y() << " " << p2x.theta() << endl;
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Pose pFinal(p1.x()+p2.x(), p1.y()+p2.y(), atan2(s,c));
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DEBUG(2) << "p1x_final= " << pFinal.x() << " " << pFinal.y() << " " << pFinal.theta() << endl;
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e1x->transformation=Transformation(pFinal);
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e1x->informationMatrix=IM;
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}
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if (!e1x && e2x){
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tList.push_back(e2x->transformation);
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iList.push_back(e2x->informationMatrix);
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vList.push_back(e2x->v2);
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}
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}
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removeVertex(v2->id);
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std::list<Transformation>::iterator t=tList.begin();
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std::list<InformationMatrix>::iterator i=iList.begin();
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std::list<Vertex*>::iterator v=vList.begin();
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while (i!=iList.end()){
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addEdge(v1,*v,*t,*i);
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i++;
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t++;
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v++;
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}
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}
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}; //namespace AISNavigation
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