void GraphSLAM::addData(SE2 currentOdom, RobotLaser* laser){ boost::mutex::scoped_lock lockg(graphMutex); //Add current vertex VertexSE2 *v = new VertexSE2; SE2 displacement = _lastOdom.inverse() * currentOdom; SE2 currEst = _lastVertex->estimate() * displacement; v->setEstimate(currEst); v->setId(++_runningVertexId + idRobot() * baseId()); //Add covariance information //VertexEllipse *ellipse = new VertexEllipse; //Matrix3f cov = Matrix3f::Zero(); //last vertex has zero covariance //ellipse->setCovariance(cov); //v->setUserData(ellipse); v->addUserData(laser); std::cout << std::endl << "Current vertex: " << v->id() << " Estimate: "<< v->estimate().translation().x() << " " << v->estimate().translation().y() << " " << v->estimate().rotation().angle() << std::endl; _graph->addVertex(v); //Add current odometry edge EdgeSE2 *e = new EdgeSE2; e->setId(++_runningEdgeId + idRobot() * baseId()); e->vertices()[0] = _lastVertex; e->vertices()[1] = v; e->setMeasurement(displacement); // //Computing covariances depending on the displacement // Vector3d dis = displacement.toVector(); // dis.x() = fabs(dis.x()); // dis.y() = fabs(dis.y()); // dis.z() = fabs(dis.z()); // dis += Vector3d(1e-3,1e-3,1e-2); // Matrix3d dis2 = dis*dis.transpose(); // Matrix3d newcov = dis2.cwiseProduct(_odomK); e->setInformation(_odominf); _graph->addEdge(e); _odomEdges.insert(e); _lastOdom = currentOdom; _lastVertex = v; }
void Localization::InitG2OGraph() { optimizer.clear(); LandmarkCount = 0; { VertexSE2 * l = new VertexSE2; l->setEstimate(Eigen::Vector3d(0, 0, 0)); l->setFixed(true); l->setId(CenterL); optimizer.addVertex(l); LandmarkCount++; } { VertexSE2 * l = new VertexSE2; l->setEstimate(Eigen::Vector3d(A2, 0, 0)); l->setFixed(true); l->setId(FrontL); optimizer.addVertex(l); LandmarkCount++; } { VertexSE2 * l = new VertexSE2; l->setEstimate(Eigen::Vector3d(-A2, 0, 0)); l->setFixed(true); l->setId(BackL); optimizer.addVertex(l); LandmarkCount++; } { VertexSE2 * l = new VertexSE2; l->setEstimate(Eigen::Vector3d(0, -B2, 0)); l->setFixed(true); l->setId(RightL); optimizer.addVertex(l); LandmarkCount++; } { VertexSE2 * l = new VertexSE2; l->setEstimate(Eigen::Vector3d(0, B2, 0)); l->setFixed(true); l->setId(LeftL); optimizer.addVertex(l); LandmarkCount++; } PreviousVertexId = -1; CurrentVertexId = LandmarkCount; { VertexSE2 * l = new VertexSE2; l->setEstimate( Eigen::Vector3d(location.x, location.y, 0)); l->setFixed(false); l->setId(LandmarkCount); optimizer.addVertex(l); } }
inline void updateVertexIdx() { if ((ros::Time::now() - lastSavedNodeTime).toSec() >= 0.03) { nodeCounter++; lastSavedNodeTime = ros::Time::now(); PreviousVertexId = CurrentVertexId; CurrentVertexId++; if (CurrentVertexId - LandmarkCount >= 100) { CurrentVertexId = LandmarkCount; } { VertexSE2 * r = new VertexSE2; r->setEstimate(Eigen::Vector3d(location.x, location.y, 0)); r->setFixed(false); r->setId(CurrentVertexId); if (optimizer.vertex(CurrentVertexId) != NULL) { optimizer.removeVertex(optimizer.vertex(CurrentVertexId)); } optimizer.addVertex(r); } { EdgeSE2 * e = new EdgeSE2; e->vertices()[0] = optimizer.vertex(PreviousVertexId); e->vertices()[1] = optimizer.vertex(CurrentVertexId); Point2d dead_reck = getOdometryFromLastGet(); e->setMeasurement(SE2(dead_reck.x, dead_reck.y, 0)); Matrix3d information; information.fill(0.); information(0, 0) = 200; information(1, 1) = 200; information(2, 2) = 1; e->setInformation(information); optimizer.addEdge(e); } } }
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); allocateSolverForSclam(optimizer); // loading DataQueue odometryQueue; int numLaserOdom = Gm2dlIO::readRobotLaser(rawFilename, odometryQueue); if (numLaserOdom == 0) { cerr << "No raw information read" << endl; return 0; } cerr << "Read " << numLaserOdom << " laser readings from file" << endl; Eigen::Vector3d odomCalib(1., 1., 1.); SE2 initialLaserPose; DataQueue robotLaserQueue; int numRobotLaser = Gm2dlIO::readRobotLaser(inputFilename, robotLaserQueue); if (numRobotLaser == 0) { cerr << "No robot laser read" << endl; return 0; } else { RobotLaser* rl = dynamic_cast<RobotLaser*>(robotLaserQueue.buffer().begin()->second); initialLaserPose = rl->odomPose().inverse() * rl->laserPose(); cerr << PVAR(initialLaserPose.toVector().transpose()) << endl; } // adding the measurements vector<MotionInformation, Eigen::aligned_allocator<MotionInformation> > motions; { std::map<double, RobotData*>::const_iterator it = robotLaserQueue.buffer().begin(); std::map<double, RobotData*>::const_iterator prevIt = it++; for (; it != robotLaserQueue.buffer().end(); ++it) { MotionInformation mi; RobotLaser* prevLaser = dynamic_cast<RobotLaser*>(prevIt->second); RobotLaser* curLaser = dynamic_cast<RobotLaser*>(it->second); mi.laserMotion = prevLaser->laserPose().inverse() * curLaser->laserPose(); // get the motion of the robot in that time interval RobotLaser* prevOdom = dynamic_cast<RobotLaser*>(odometryQueue.findClosestData(prevLaser->timestamp())); RobotLaser* curOdom = dynamic_cast<RobotLaser*>(odometryQueue.findClosestData(curLaser->timestamp())); mi.odomMotion = prevOdom->odomPose().inverse() * curOdom->odomPose(); mi.timeInterval = prevOdom->timestamp() - curOdom->timestamp(); prevIt = it; motions.push_back(mi); } } if (1) { VertexSE2* laserOffset = new VertexSE2; laserOffset->setId(Gm2dlIO::ID_LASERPOSE); laserOffset->setEstimate(initialLaserPose); optimizer.addVertex(laserOffset); VertexOdomDifferentialParams* odomParamsVertex = new VertexOdomDifferentialParams; odomParamsVertex->setId(Gm2dlIO::ID_ODOMCALIB); odomParamsVertex->setEstimate(Eigen::Vector3d(1., 1., 1.)); optimizer.addVertex(odomParamsVertex); for (size_t i = 0; i < motions.size(); ++i) { const SE2& odomMotion = motions[i].odomMotion; const SE2& laserMotion = motions[i].laserMotion; const double& timeInterval = motions[i].timeInterval; // add the edge MotionMeasurement mm(odomMotion.translation().x(), odomMotion.translation().y(), odomMotion.rotation().angle(), timeInterval); OdomAndLaserMotion meas; meas.velocityMeasurement = OdomConvert::convertToVelocity(mm); meas.laserMotion = laserMotion; EdgeSE2PureCalib* calibEdge = new EdgeSE2PureCalib; calibEdge->setVertex(0, laserOffset); calibEdge->setVertex(1, odomParamsVertex); calibEdge->setInformation(Eigen::Matrix3d::Identity()); calibEdge->setMeasurement(meas); if (! optimizer.addEdge(calibEdge)) { cerr << "Error adding calib edge" << endl; delete calibEdge; } } if (fixLaser) { cerr << "Fix position of the laser offset" << endl; laserOffset->setFixed(true); } cerr << "\nPerforming full non-linear estimation" << endl; optimizer.initializeOptimization(); optimizer.computeActiveErrors(); optimizer.optimize(maxIterations); cerr << "Calibrated laser offset (x, y, theta):" << laserOffset->estimate().toVector().transpose() << endl; odomCalib = odomParamsVertex->estimate(); cerr << "Odometry parameters (scaling factors (v_l, v_r, b)): " << odomParamsVertex->estimate().transpose() << endl; optimizer.clear(); } // linear least squares for some parameters { Eigen::MatrixXd A(motions.size(), 2); Eigen::VectorXd x(motions.size()); for (size_t i = 0; i < motions.size(); ++i) { const SE2& odomMotion = motions[i].odomMotion; const SE2& laserMotion = motions[i].laserMotion; const double& timeInterval = motions[i].timeInterval; MotionMeasurement mm(odomMotion.translation().x(), odomMotion.translation().y(), odomMotion.rotation().angle(), timeInterval); VelocityMeasurement velMeas = OdomConvert::convertToVelocity(mm); A(i, 0) = velMeas.vl() * timeInterval; A(i, 1) = velMeas.vr() * timeInterval; x(i) = laserMotion.rotation().angle(); } //linearSolution = (A.transpose() * A).inverse() * A.transpose() * x; linearSolution = A.colPivHouseholderQr().solve(x); //cout << PVAR(linearSolution.transpose()) << endl; } //constructing non-linear least squares VertexSE2* laserOffset = new VertexSE2; laserOffset->setId(Gm2dlIO::ID_LASERPOSE); laserOffset->setEstimate(initialLaserPose); optimizer.addVertex(laserOffset); VertexBaseline* odomParamsVertex = new VertexBaseline; odomParamsVertex->setId(Gm2dlIO::ID_ODOMCALIB); odomParamsVertex->setEstimate(1.); optimizer.addVertex(odomParamsVertex); for (size_t i = 0; i < motions.size(); ++i) { const SE2& odomMotion = motions[i].odomMotion; const SE2& laserMotion = motions[i].laserMotion; const double& timeInterval = motions[i].timeInterval; // add the edge MotionMeasurement mm(odomMotion.translation().x(), odomMotion.translation().y(), odomMotion.rotation().angle(), timeInterval); OdomAndLaserMotion meas; meas.velocityMeasurement = OdomConvert::convertToVelocity(mm); meas.laserMotion = laserMotion; EdgeCalib* calibEdge = new EdgeCalib; calibEdge->setVertex(0, laserOffset); calibEdge->setVertex(1, odomParamsVertex); calibEdge->setInformation(Eigen::Matrix3d::Identity()); calibEdge->setMeasurement(meas); if (! optimizer.addEdge(calibEdge)) { cerr << "Error adding calib edge" << endl; delete calibEdge; } } if (fixLaser) { cerr << "Fix position of the laser offset" << endl; laserOffset->setFixed(true); } cerr << "\nPerforming partial non-linear estimation" << endl; optimizer.initializeOptimization(); optimizer.computeActiveErrors(); optimizer.optimize(maxIterations); cerr << "Calibrated laser offset (x, y, theta):" << laserOffset->estimate().toVector().transpose() << endl; odomCalib(0) = -1. * linearSolution(0) * odomParamsVertex->estimate(); odomCalib(1) = linearSolution(1) * odomParamsVertex->estimate(); odomCalib(2) = odomParamsVertex->estimate(); cerr << "Odometry parameters (scaling factors (v_l, v_r, b)): " << odomCalib.transpose() << endl; { SE2 closedFormLaser; Eigen::Vector3d closedFormOdom; ClosedFormCalibration::calibrate(motions, closedFormLaser, closedFormOdom); cerr << "\nObtaining closed form solution" << endl; cerr << "Calibrated laser offset (x, y, theta):" << closedFormLaser.toVector().transpose() << endl; cerr << "Odometry parameters (scaling factors (v_l, v_r, b)): " << closedFormOdom.transpose() << endl; } if (dumpGraphFilename.size() > 0) { cerr << "Writing " << dumpGraphFilename << " ... "; optimizer.save(dumpGraphFilename.c_str()); cerr << "done." << endl; } // optional input of a separate 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"); 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 measurement 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; } } } return 0; }
void GraphSLAM::addDataSM(SE2 currentOdom, RobotLaser* laser){ boost::mutex::scoped_lock lockg(graphMutex); //Add current vertex VertexSE2 *v = new VertexSE2; SE2 displacement = _lastOdom.inverse() * currentOdom; SE2 currEst = _lastVertex->estimate() * displacement; v->setEstimate(currEst); v->setId(++_runningVertexId + idRobot() * baseId()); //Add covariance information //VertexEllipse *ellipse = new VertexEllipse; //Matrix3f cov = Matrix3f::Zero(); //last vertex has zero covariance //ellipse->setCovariance(cov); //v->setUserData(ellipse); v->addUserData(laser); std::cout << endl << "Current vertex: " << v->id() << " Estimate: "<< v->estimate().translation().x() << " " << v->estimate().translation().y() << " " << v->estimate().rotation().angle() << std::endl; _graph->addVertex(v); //Add current odometry edge EdgeSE2 *e = new EdgeSE2; e->setId(++_runningEdgeId + idRobot() * baseId()); e->vertices()[0] = _lastVertex; e->vertices()[1] = v; OptimizableGraph::VertexSet vset; vset.insert(_lastVertex); int j = 1; int gap = 5; while (j <= gap){ VertexSE2 *vj = dynamic_cast<VertexSE2 *>(graph()->vertex(_lastVertex->id()-j)); if (vj) vset.insert(vj); else break; j++; } SE2 transf; bool shouldIAdd = _closeMatcher.closeScanMatching(vset, _lastVertex, v, &transf, maxScore); if (shouldIAdd){ e->setMeasurement(transf); e->setInformation(_SMinf); }else{ //Trust the odometry e->setMeasurement(displacement); // Vector3d dis = displacement.toVector(); // dis.x() = fabs(dis.x()); // dis.y() = fabs(dis.y()); // dis.z() = fabs(dis.z()); // dis += Vector3d(1e-3,1e-3,1e-2); // Matrix3d dis2 = dis*dis.transpose(); // Matrix3d newcov = dis2.cwiseProduct(_odomK); // e->setInformation(newcov.inverse()); e->setInformation(_odominf); } _graph->addEdge(e); _lastOdom = currentOdom; _lastVertex = v; }