karto_laser_constraint_generator.cpp

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/* Copyright (c) 2008, Willow Garage, Inc.
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#include <graph_slam/constraints/karto_laser_constraints.h>
#include <pose_graph/transforms.h>
#include <pose_graph/utils.h>
#include <pose_graph/geometry.h>
#include <boost/foreach.hpp>
#include <boost/bind.hpp>
#include <boost/ref.hpp>
#include <queue>

namespace graph_slam
{

namespace ksm=karto_scan_matcher;
namespace sm=sensor_msgs;
namespace gm=geometry_msgs;
namespace pg=pose_graph;

using namespace pg;

using std::vector;
using std::set;
using boost::bind;
using boost::ref;
using graph_slam::GraphLocalization;

typedef set<NodeId> NodeSet;
typedef vector<Chain> ChainVec;

KartoLaserConstraints::KartoLaserConstraints (const double max_seq_link_length, 
                                              const unsigned min_seq_chain_length, const double min_seq_response,
                                              const double max_loop_link_length,
                                              const unsigned min_loop_chain_length,
                                              const double min_loop_response, const bool use_covariances) :
  max_sequential_link_length_(max_seq_link_length), min_sequential_chain_length_(min_seq_chain_length),
  min_sequential_link_response_(min_seq_response), max_loop_link_length_(max_loop_link_length),
  min_loop_chain_length_(min_loop_chain_length), min_loop_closure_response_(min_loop_response),
  use_covariances_(use_covariances), tf_(nh_)
{
}

bool targetIs (const NodeConstraint& constraint, const NodeId n)
{
  return (constraint.target == n);
}

// Get the laser's pose, relative to base.
gm::Pose2D getLaserOffset (const tf::TransformListener& tf, const sm::LaserScan& scan)
{
  tf::Stamped<tf::Pose> ident;
  tf::Stamped<btTransform> laser_to_base;
  ident.setIdentity();
  ident.frame_id_ = scan.header.frame_id;
  ident.stamp_ = ros::Time();
  
  if (!tf.waitForTransform("base_link", ident.frame_id_, ros::Time(), ros::Duration(5.0))) {
    ROS_FATAL_STREAM ("Didn't get a transform between base_link and " << ident.frame_id_ << " in time");
    ROS_BREAK();
  }
  
  tf.transformPose("base_link", ident, laser_to_base);

  gm::Pose2D laser_pose;
  laser_pose.x = laser_to_base.getOrigin().x();
  laser_pose.y = laser_to_base.getOrigin().y();
  laser_pose.theta = tf::getYaw(laser_to_base.getRotation());
  return laser_pose;
}


void KartoLaserConstraints::possiblyInitializeMatchers (const sm::LaserScan& scan) 
{
  if (!seq_matcher_) {
    ROS_ASSERT (!loop_matcher_);
    const gm::Pose2D offset = getLaserOffset(tf_, scan);
    seq_matcher_.reset(new SequentialScanMatcher(offset, max_sequential_link_length_,
                                                 min_sequential_chain_length_, min_sequential_link_response_,
                                                 use_covariances_));
    loop_matcher_.reset(new LoopScanMatcher(offset, max_loop_link_length_, min_loop_chain_length_,
                                            min_loop_closure_response_, use_covariances_));
  }
}


// Externally called method that returns sequential and loop constraints
NodeConstraintVector KartoLaserConstraints::getConstraints (const PoseGraph& graph, const NodeId new_node,
                                                            const NodePoseMap& optimized_poses)
{
  ROS_DEBUG_STREAM_NAMED ("karto", "Getting constraints for " << new_node);
  const sm::LaserScan::ConstPtr scan = graph.getScan(new_node);
  possiblyInitializeMatchers(*scan);
  NodeConstraintVector constraints;
  const gm::Pose odom_pose=graph.getInitialPoseEstimate(new_node);    

  if (last_ref_node_) {
    const gm::Pose rel_odom = relativePose(odom_pose, ref_node_odom_pose_);
    const Eigen3::Affine3d trans = poseToWorldTransform(keyValue(optimized_poses, *last_ref_node_));
    const gm::Pose init_pose = applyTransform(trans, rel_odom);
    NodeConstraintVector scan_odom_constraints = scanOdomConstraints(graph, new_node, init_pose, optimized_poses);
    NodeConstraintVector loop_constraints = loopConstraints(graph, new_node, init_pose, optimized_poses);
    constraints.insert(constraints.end(), scan_odom_constraints.begin(), scan_odom_constraints.end());
    constraints.insert(constraints.end(), loop_constraints.begin(), loop_constraints.end());
  }
  
  seq_matcher_->addNode(new_node, scan);
  loop_matcher_->addNode(new_node, scan);

  last_ref_node_ = new_node;
  ref_node_odom_pose_ = odom_pose;
  seq_matcher_->addRunningNode(new_node);

  return constraints;
}

void KartoLaserConstraints::updateLocalization (const GraphLocalization& graph_loc)
{
  seq_matcher_->resetLastNode();
  loop_matcher_->resetLastNode();
  last_ref_node_ = NodeId(graph_loc.node);
  const Eigen3::Affine3d ref_to_fixed_frame = transformBetween(graph_loc.offset, graph_loc.fixed_frame_pose);
  gm::Pose id;
  id.orientation.w = 1.0;
  ref_node_odom_pose_ = applyTransform(ref_to_fixed_frame, id);
  seq_matcher_->addRunningNode(*last_ref_node_);
}


void KartoLaserConstraints::initializeFromGraph (const PoseGraph& g, const vector<NodeId>& node_sequence)
{
  BOOST_FOREACH (const NodeId n, g.allNodes()) {
    ROS_ASSERT (g.hasScan(n));
    sm::LaserScan::ConstPtr scan = g.getScan(n);
    possiblyInitializeMatchers(*scan);
    seq_matcher_->addNode(n, scan);
    loop_matcher_->addNode(n, scan);
  }
  seq_matcher_->resetLastNode();
  loop_matcher_->resetLastNode();
  last_ref_node_ = *(--node_sequence.end());
}



NodeConstraintVector KartoLaserConstraints::loopConstraints (const PoseGraph& graph,
                                                             const NodeId new_node,
                                                             const gm::Pose& pose_estimate,
                                                             const NodePoseMap& optimized_poses)
{
  ROS_ASSERT(loop_matcher_);
  WithOptimizedPoses opt(loop_matcher_.get(), optimized_poses);
  NodeConstraintVector constraints =
    loop_matcher_->getConstraints(graph, *last_ref_node_, pose_estimate, graph.getScan(new_node));
  ROS_DEBUG_STREAM_NAMED ("karto", "  Adding " << constraints.size() << " loop constraints");
  return constraints;
}

NodeConstraintVector KartoLaserConstraints::scanOdomConstraints (const PoseGraph& graph,
                                                                 const NodeId new_node,
                                                                 const gm::Pose& pose_estimate,
                                                                 const NodePoseMap& optimized_poses)
{
  ROS_ASSERT (seq_matcher_);
  WithOptimizedPoses opt(seq_matcher_.get(), optimized_poses);
  NodeConstraintVector constraints =
    seq_matcher_->getConstraints(graph, *last_ref_node_, pose_estimate, graph.getScan(new_node));
  ROS_DEBUG_STREAM_NAMED ("karto", "  Adding " << constraints.size() << " sequential scan constraints");
  return constraints;
}

} // namespace graph_slam