Ejemplo n.º 1
0
  void OptimizableGraph::setFixed(HyperGraph::VertexSet& vset, bool fixed)
{
  for (HyperGraph::VertexSet::iterator it=vset.begin(); it!=vset.end(); ++it) {
    OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(*it);
    v->setFixed(fixed);
  }
}
bool G2oSlamInterface::fixNode(const std::vector<int>& nodes)
{
  for (size_t i = 0; i < nodes.size(); ++i) {
    OptimizableGraph::Vertex* v = _optimizer->vertex(nodes[i]);
    if (v)
      v->setFixed(true);
  }
  return true;
}
Ejemplo n.º 3
0
bool OptimizableGraph::load(istream& is, bool createEdges)
{
  // scna for the paramers in the whole file
  if (!_parameters.read(is,&_renamedTypesLookup))
    return false;
#ifndef NDEBUG
  cerr << "Loaded " << _parameters.size() << " parameters" << endl;
#endif
  is.clear();
  is.seekg(ios_base::beg);
  set<string> warnedUnknownTypes;
  stringstream currentLine;
  string token;

  Factory* factory = Factory::instance();
  HyperGraph::GraphElemBitset elemBitset;
  elemBitset[HyperGraph::HGET_PARAMETER] = 1;
  elemBitset.flip();

  Vertex* previousVertex = 0;
  Data* previousData = 0;

  while (1) {
    int bytesRead = readLine(is, currentLine);
    if (bytesRead == -1)
      break;
    currentLine >> token;
    //cerr << "Token=" << token << endl;
    if (bytesRead == 0 || token.size() == 0 || token[0] == '#')
      continue;

    // handle commands encoded in the file
    bool handledCommand = false;
    
    if (token == "FIX") {
      handledCommand = true;
      int id;
      while (currentLine >> id) {
        OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(vertex(id));
        if (v) {
#        ifndef NDEBUG
          cerr << "Fixing vertex " << v->id() << endl;
#        endif
          v->setFixed(true);
        } else {
          cerr << "Warning: Unable to fix vertex with id " << id << ". Not found in the graph." << endl;
        }
      }
    }

    if (handledCommand)
      continue;
     
    // do the mapping to an internal type if it matches
    if (_renamedTypesLookup.size() > 0) {
      map<string, string>::const_iterator foundIt = _renamedTypesLookup.find(token);
      if (foundIt != _renamedTypesLookup.end()) {
        token = foundIt->second;
      }
    }

    if (! factory->knowsTag(token)) {
      if (warnedUnknownTypes.count(token) != 1) {
        warnedUnknownTypes.insert(token);
        cerr << CL_RED(__PRETTY_FUNCTION__ << " unknown type: " << token) << endl;
      }
      continue;
    }

    HyperGraph::HyperGraphElement* element = factory->construct(token, elemBitset);
    if (dynamic_cast<Vertex*>(element)) { // it's a vertex type
      //cerr << "it is a vertex" << endl;
      previousData = 0;
      Vertex* v = static_cast<Vertex*>(element);
      int id;
      currentLine >> id;
      bool r = v->read(currentLine);
      if (! r)
        cerr << __PRETTY_FUNCTION__ << ": Error reading vertex " << token << " " << id << endl;
      v->setId(id);
      if (!addVertex(v)) {
        cerr << __PRETTY_FUNCTION__ << ": Failure adding Vertex, " << token << " " << id << endl;
        delete v;
      } else {
        previousVertex = v;
      }
    }
Ejemplo n.º 4
0
int main(int argc, char** argv)
{
  bool fixLaser;
  int maxIterations;
  bool verbose;
  string inputFilename;
  string outputfilename;
  string rawFilename;
  string odomTestFilename;
  string dumpGraphFilename;
  // command line parsing
  CommandArgs commandLineArguments;
  commandLineArguments.param("i", maxIterations, 10, "perform n iterations");
  commandLineArguments.param("v", verbose, false, "verbose output of the optimization process");
  commandLineArguments.param("o", outputfilename, "", "output final version of the graph");
  commandLineArguments.param("test", odomTestFilename, "", "apply odometry calibration to some test data");
  commandLineArguments.param("dump", dumpGraphFilename, "", "write the graph to the disk");
  commandLineArguments.param("fixLaser", fixLaser, false, "keep the laser offset fixed during optimization");
  commandLineArguments.paramLeftOver("gm2dl-input", inputFilename, "", "gm2dl file which will be processed");
  commandLineArguments.paramLeftOver("raw-log", rawFilename, "", "raw log file containing the odometry");

  commandLineArguments.parseArgs(argc, argv);

  SparseOptimizer optimizer;
  optimizer.setVerbose(verbose);
  optimizer.setForceStopFlag(&hasToStop);

  allocateSolverForSclam(optimizer);

  // loading
  if (! Gm2dlIO::readGm2dl(inputFilename, optimizer, false)) {
    cerr << "Error while loading gm2dl file" << endl;
  }
  DataQueue robotLaserQueue;
  int numLaserOdom = Gm2dlIO::readRobotLaser(rawFilename, robotLaserQueue);
  if (numLaserOdom == 0) {
    cerr << "No raw information read" << endl;
    return 0;
  }
  cerr << "Read " << numLaserOdom << " laser readings from file" << endl;

  bool gaugeFreedom = optimizer.gaugeFreedom();

  OptimizableGraph::Vertex* gauge = optimizer.findGauge();
  if (gaugeFreedom) {
    if (! gauge) {
      cerr <<  "# cannot find a vertex to fix in this thing" << endl;
      return 2;
    } else {
      cerr << "# graph is fixed by node " << gauge->id() << endl;
      gauge->setFixed(true);
    }
  } else {
    cerr << "# graph is fixed by priors" << endl;
  }

  addOdometryCalibLinksDifferential(optimizer, robotLaserQueue);

  // sanity check
  HyperDijkstra d(&optimizer);
  UniformCostFunction f;
  d.shortestPaths(gauge, &f);
  //cerr << PVAR(d.visited().size()) << endl;

  if (d.visited().size()!=optimizer.vertices().size()) {
    cerr << CL_RED("Warning: d.visited().size() != optimizer.vertices().size()") << endl;
    cerr << "visited: " << d.visited().size() << endl;
    cerr << "vertices: " << optimizer.vertices().size() << endl;
    if (1)
      for (SparseOptimizer::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) {
        OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(it->second);
        if (d.visited().count(v) == 0) {
          cerr << "\t unvisited vertex " << it->first << " " << (void*)v << endl;
          v->setFixed(true);
        }
      }
  }

  for (SparseOptimizer::VertexIDMap::const_iterator it = optimizer.vertices().begin(); it != optimizer.vertices().end(); ++it) {
    OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(it->second);
    if (v->fixed()) {
      cerr << "\t fixed vertex " << it->first << endl;
    }
  }

  VertexSE2* laserOffset = dynamic_cast<VertexSE2*>(optimizer.vertex(Gm2dlIO::ID_LASERPOSE));
  VertexOdomDifferentialParams* odomParamsVertex = dynamic_cast<VertexOdomDifferentialParams*>(optimizer.vertex(Gm2dlIO::ID_ODOMCALIB));

  if (fixLaser) {
    cerr << "Fix position of the laser offset" << endl;
    laserOffset->setFixed(true);
  }

  signal(SIGINT, sigquit_handler);
  cerr << "Doing full estimation" << endl;
  optimizer.initializeOptimization();
  optimizer.computeActiveErrors();
  cerr << "Initial chi2 = " << FIXED(optimizer.chi2()) << endl;

  int i=optimizer.optimize(maxIterations);
  if (maxIterations > 0 && !i){
    cerr << "optimize failed, result might be invalid" << endl;
  }

  if (laserOffset) {
    cerr << "Calibrated laser offset (x, y, theta):" << laserOffset->estimate().toVector().transpose() << endl;
  }

  if (odomParamsVertex) {
    cerr << "Odometry parameters (scaling factors (v_l, v_r, b)): " << odomParamsVertex->estimate().transpose() << endl;
  }

  cerr << "vertices: " << optimizer.vertices().size() << endl;
  cerr << "edges: " << optimizer.edges().size() << endl;

  if (dumpGraphFilename.size() > 0) {
    cerr << "Writing " << dumpGraphFilename << " ... ";
    optimizer.save(dumpGraphFilename.c_str());
    cerr << "done." << endl;
  }

  // optional input of a seperate file for applying the odometry calibration
  if (odomTestFilename.size() > 0) {

    DataQueue testRobotLaserQueue;
    int numTestOdom = Gm2dlIO::readRobotLaser(odomTestFilename, testRobotLaserQueue);
    if (numTestOdom == 0) {
      cerr << "Unable to read test data" << endl;
    } else {

      ofstream rawStream("odometry_raw.txt");
      ofstream calibratedStream("odometry_calibrated.txt");
      const Vector3d& odomCalib = odomParamsVertex->estimate();
      RobotLaser* prev = dynamic_cast<RobotLaser*>(testRobotLaserQueue.buffer().begin()->second);
      SE2 prevCalibratedPose = prev->odomPose();

      for (DataQueue::Buffer::const_iterator it = testRobotLaserQueue.buffer().begin(); it != testRobotLaserQueue.buffer().end(); ++it) {
        RobotLaser* cur = dynamic_cast<RobotLaser*>(it->second);
        assert(cur);

        double dt = cur->timestamp() - prev->timestamp();
        SE2 motion = prev->odomPose().inverse() * cur->odomPose();

        // convert to velocity measurment
        MotionMeasurement motionMeasurement(motion.translation().x(), motion.translation().y(), motion.rotation().angle(), dt);
        VelocityMeasurement velocityMeasurement = OdomConvert::convertToVelocity(motionMeasurement);

        // apply calibration
        VelocityMeasurement calibratedVelocityMeasurment = velocityMeasurement;
        calibratedVelocityMeasurment.setVl(odomCalib(0) * calibratedVelocityMeasurment.vl());
        calibratedVelocityMeasurment.setVr(odomCalib(1) * calibratedVelocityMeasurment.vr());
        MotionMeasurement mm = OdomConvert::convertToMotion(calibratedVelocityMeasurment, odomCalib(2));

        // combine calibrated odometry with the previous pose
        SE2 remappedOdom;
        remappedOdom.fromVector(mm.measurement());
        SE2 calOdomPose = prevCalibratedPose * remappedOdom;

        // write output
        rawStream << prev->odomPose().translation().x() << " " << prev->odomPose().translation().y() << " " << prev->odomPose().rotation().angle() << endl;
        calibratedStream << calOdomPose.translation().x() << " " << calOdomPose.translation().y() << " " << calOdomPose.rotation().angle() << endl;

        prevCalibratedPose = calOdomPose;
        prev = cur;
      }
    }

  }

  if (outputfilename.size() > 0) {
    Gm2dlIO::updateLaserData(optimizer);
    cerr << "Writing " << outputfilename << " ... ";
    bool writeStatus = Gm2dlIO::writeGm2dl(outputfilename, optimizer);
    cerr << (writeStatus ? "done." : "failed") << endl;
  }

  return 0;
}
Ejemplo n.º 5
0
int main (int argc  , char ** argv){
  int maxIterations;
  bool verbose;
  bool robustKernel;
  double lambdaInit;
  CommandArgs arg;
  bool fixSensor;
  bool fixPlanes;
  bool fixFirstPose;
  bool fixTrajectory;
  bool planarMotion;
  bool listSolvers;
  string strSolver;
  cerr << "graph" << endl;
  arg.param("i", maxIterations, 5, "perform n iterations");
  arg.param("v", verbose, false, "verbose output of the optimization process");
  arg.param("solver", strSolver, "lm_var", "select one specific solver");
  arg.param("lambdaInit", lambdaInit, 0, "user specified lambda init for levenberg");
  arg.param("robustKernel", robustKernel, false, "use robust error functions");
  arg.param("fixSensor", fixSensor, false, "fix the sensor position on the robot");
  arg.param("fixTrajectory", fixTrajectory, false, "fix the trajectory");
  arg.param("fixFirstPose", fixFirstPose, false, "fix the first robot pose");
  arg.param("fixPlanes", fixPlanes, false, "fix the planes (do localization only)");
  arg.param("planarMotion", planarMotion, false, "robot moves on a plane");
  arg.param("listSolvers", listSolvers, false, "list the solvers");
  arg.parseArgs(argc, argv);



  SparseOptimizer* g=new SparseOptimizer();
  ParameterSE3Offset* odomOffset=new ParameterSE3Offset();
  odomOffset->setId(0);
  g->addParameter(odomOffset);

  OptimizationAlgorithmFactory* solverFactory = OptimizationAlgorithmFactory::instance();
  OptimizationAlgorithmProperty solverProperty;
  OptimizationAlgorithm* solver = solverFactory->construct(strSolver, solverProperty);
  g->setAlgorithm(solver);
  if (listSolvers){
    solverFactory->listSolvers(cerr);
    return 0;
  }

  if (! g->solver()){
    cerr << "Error allocating solver. Allocating \"" << strSolver << "\" failed!" << endl;
    cerr << "available solvers: " << endl;
    solverFactory->listSolvers(cerr);
    cerr << "--------------" << endl;
    return 0;
  }

  cerr << "sim" << endl;
  Simulator* sim = new Simulator(g);

  cerr << "robot" << endl;
  Robot* r=new Robot(g);


  cerr << "planeSensor" << endl;
  Matrix3d R=Matrix3d::Identity();
  R <<
    0,  0,   1,
    -1,  0,  0,
    0, -1,   0;

  Isometry3d sensorPose=Isometry3d::Identity();
  sensorPose.matrix().block<3,3>(0,0) = R;
  sensorPose.translation()= Vector3d(.3 , 0.5 , 1.2);
  PlaneSensor* ps = new PlaneSensor(r, 0, sensorPose);
  ps->_nplane << 0.03, 0.03, 0.005;
  r->_sensors.push_back(ps);
  sim->_robots.push_back(r);

  cerr  << "p1" << endl;
  Plane3D plane;
  PlaneItem* pi =new PlaneItem(g,1);
  plane.fromVector(Eigen::Vector4d(0.,0.,1.,5.));
  static_cast<VertexPlane*>(pi->vertex())->setEstimate(plane);
  pi->vertex()->setFixed(fixPlanes);
  sim->_world.insert(pi);

  plane.fromVector(Eigen::Vector4d(1.,0.,0.,5.));
  pi =new PlaneItem(g,2);
  static_cast<VertexPlane*>(pi->vertex())->setEstimate(plane);
  pi->vertex()->setFixed(fixPlanes);
  sim->_world.insert(pi);

  cerr  << "p2" << endl;
  pi =new PlaneItem(g,3);
  plane.fromVector(Eigen::Vector4d(0.,1.,0.,5.));
  static_cast<VertexPlane*>(pi->vertex())->setEstimate(plane);
  pi->vertex()->setFixed(fixPlanes);
  sim->_world.insert(pi);


  Quaterniond q, iq;
  if (planarMotion) {
    r->_planarMotion = true;
    r->_nmovecov << 0.01, 0.0025, 1e-9, 0.001, 0.001, 0.025;
    q = Quaterniond(AngleAxisd(0.2, Vector3d::UnitZ()).toRotationMatrix());
    iq = Quaterniond(AngleAxisd(-0.2, Vector3d::UnitZ()).toRotationMatrix());
  } else {
    r->_planarMotion = false;
    //r->_nmovecov << 0.1, 0.005, 1e-9, 0.05, 0.001, 0.001;
    r->_nmovecov << 0.1, 0.005, 1e-9, 0.001, 0.001, 0.05;
    q = Quaterniond((AngleAxisd(M_PI/10, Vector3d::UnitZ()) * AngleAxisd(0.1, Vector3d::UnitY())).toRotationMatrix());
    iq = Quaterniond((AngleAxisd(-M_PI/10, Vector3d::UnitZ()) * AngleAxisd(0.1, Vector3d::UnitY())).toRotationMatrix());
  }

  Isometry3d delta=Isometry3d::Identity();
  sim->_lastVertexId=4;

  Isometry3d startPose=Isometry3d::Identity();
  startPose.matrix().block<3,3>(0,0) = AngleAxisd(-0.75*M_PI, Vector3d::UnitZ()).toRotationMatrix();
  sim->move(0,startPose);

  int k =20;
  int l = 2;
  double delta_t = 0.2;
  for (int j=0; j<l; j++) {
    Vector3d tr(1.,0.,0.);
    delta.matrix().block<3,3>(0,0) = q.toRotationMatrix();
    if (j==(l-1)){
      delta.matrix().block<3,3>(0,0) = Matrix3d::Identity();
    }
    delta.translation()=tr*(delta_t*j);
    Isometry3d iDelta = delta.inverse();
    for (int a=0; a<2; a++){
      for (int i=0; i<k; i++){
        cerr << "m";
        if (a==0)
          sim->relativeMove(0,delta);
        else
          sim->relativeMove(0,iDelta);
        cerr << "s";
        sim->sense(0);
      }
    }
  }

  for (int j=0; j<l; j++) {
    Vector3d tr(1.,0.,0.);
    delta.matrix().block<3,3>(0,0) = iq.toRotationMatrix();
    if (j==l-1){
      delta.matrix().block<3,3>(0,0) = Matrix3d::Identity();
    }
    delta.translation()=tr*(delta_t*j);
    Isometry3d iDelta = delta.inverse();
    for (int a=0; a<2; a++){
      for (int i=0; i<k; i++){
        cerr << "m";
        if (a==0)
          sim->relativeMove(0,delta);
        else
          sim->relativeMove(0,iDelta);
        cerr << "s";
        sim->sense(0);
      }
    }
  }

  ofstream os("test_gt.g2o");
  g->save(os);

  if (fixSensor) {
    ps->_offsetVertex->setFixed(true);
  } else {
    Vector6d noffcov;
    noffcov << 0.1,0.1,0.1,0.5, 0.5, 0.5;
    ps->_offsetVertex->setEstimate(ps->_offsetVertex->estimate() * sample_noise_from_se3(noffcov));
    ps->_offsetVertex->setFixed(false);
  }

  if (fixFirstPose){
    OptimizableGraph::Vertex* gauge = g->vertex(4);
    if (gauge)
      gauge->setFixed(true);
  } // else {
  //   // multiply all vertices of the robot by this standard quantity
  //   Quaterniond q(AngleAxisd(1, Vector3d::UnitZ()).toRotationMatrix());
  //   Vector3d tr(1,0,0);
  //   Isometry3d delta;
  //   delta.matrix().block<3,3>(0,0)=q.toRotationMatrix();
  //   delta.translation()=tr;
  //   for (size_t i=0; i< g->vertices().size(); i++){
  //     VertexSE3 *v = dynamic_cast<VertexSE3 *>(g->vertex(i));
  //     if (v && v->id()>0){
  //   v->setEstimate (v->estimate()*delta);
  //     }
  //   }
  // }

  ofstream osp("test_preopt.g2o");
  g->save(osp);
  //g->setMethod(SparseOptimizer::LevenbergMarquardt);
  g->initializeOptimization();
  g->setVerbose(verbose);
  g->optimize(maxIterations);
  if (! fixSensor ){
    SparseBlockMatrix<MatrixXd> spinv;
    std::pair<int, int> indexParams;
    indexParams.first = ps->_offsetVertex->hessianIndex();
    indexParams.second = ps->_offsetVertex->hessianIndex();
    std::vector<std::pair <int, int> > blockIndices;
    blockIndices.push_back(indexParams);
    if (!g->computeMarginals(spinv,  blockIndices)){
      cerr << "error in computing the covariance" << endl;
    } else {

      MatrixXd m = *spinv.block(ps->_offsetVertex->hessianIndex(), ps->_offsetVertex->hessianIndex());

      cerr << "Param covariance" << endl;
      cerr << m << endl;
      cerr << "OffsetVertex: " << endl;
      ps->_offsetVertex->write(cerr);
      cerr <<  endl;
      cerr << "rotationDeterminant: " << m.block<3,3>(0,0).determinant() << endl;
      cerr << "translationDeterminant: " << m.block<3,3>(3,3).determinant()  << endl;
      cerr << endl;
    }
  }
  ofstream os1("test_postOpt.g2o");
  g->save(os1);

}