OptimizerTORO.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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4 
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27 #include "rtabmap/core/Graph.h"
28 
29 #include <rtabmap/utilite/ULogger.h>
30 #include <rtabmap/utilite/UStl.h>
31 #include <rtabmap/utilite/UMath.h>
32 #include <rtabmap/utilite/UConversion.h>
33 #include <rtabmap/utilite/UTimer.h>
34 #include <set>
35 
36 #include <rtabmap/core/optimizer/OptimizerTORO.h>
37 
38 #ifdef RTABMAP_TORO
39 #include "toro3d/treeoptimizer3.h"
40 #include "toro3d/treeoptimizer2.h"
41 #endif
42 
43 namespace rtabmap {
44 
45 bool OptimizerTORO::available()
46 {
47 #ifdef RTABMAP_TORO
48  return true;
49 #else
50  return false;
51 #endif
52 }
53 
54 std::map<int, Transform> OptimizerTORO::optimize(
55  int rootId,
56  const std::map<int, Transform> & poses,
57  const std::multimap<int, Link> & edgeConstraints,
58  cv::Mat & outputCovariance,
59  std::list<std::map<int, Transform> > * intermediateGraphes, // contains poses after tree init to last one before the end
60  double * finalError,
61  int * iterationsDone)
62 {
63  outputCovariance = cv::Mat::eye(6,6,CV_64FC1);
64  std::map<int, Transform> optimizedPoses;
65 #ifdef RTABMAP_TORO
66  UDEBUG("Optimizing graph (pose=%d constraints=%d)...", (int)poses.size(), (int)edgeConstraints.size());
67  if(edgeConstraints.size()>=1 && poses.size()>=2 && iterations() > 0)
68  {
69  // Apply TORO optimization
70  AISNavigation::TreeOptimizer2 pg2;
71  AISNavigation::TreeOptimizer3 pg3;
72  pg2.verboseLevel = 0;
73  pg3.verboseLevel = 0;
74 
75  UDEBUG("fill poses to TORO...");
76  if(isSlam2d())
77  {
78  for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
79  {
80  if(iter->first > 0)
81  {
82  UASSERT(!iter->second.isNull());
83  AISNavigation::TreePoseGraph2::Pose p(iter->second.x(), iter->second.y(), iter->second.theta());
84  AISNavigation::TreePoseGraph2::Vertex* v = pg2.addVertex(iter->first, p);
85  UASSERT_MSG(v != 0, uFormat("cannot insert vertex %d!?", iter->first).c_str());
86  }
87  }
88  }
89  else
90  {
91  for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
92  {
93  if(iter->first > 0)
94  {
95  UASSERT(!iter->second.isNull());
96  float x,y,z, roll,pitch,yaw;
97  iter->second.getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
98  AISNavigation::TreePoseGraph3::Pose p(x, y, z, roll, pitch, yaw);
99  AISNavigation::TreePoseGraph3::Vertex* v = pg3.addVertex(iter->first, p);
100  UASSERT_MSG(v != 0, uFormat("cannot insert vertex %d!?", iter->first).c_str());
101  v->transformation=AISNavigation::TreePoseGraph3::Transformation(p);
102  }
103  }
104 
105  }
106 
107  UDEBUG("fill edges to TORO...");
108  if(isSlam2d())
109  {
110  for(std::multimap<int, Link>::const_iterator iter=edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
111  {
112  UASSERT(!iter->second.transform().isNull());
113  AISNavigation::TreePoseGraph2::Pose p(iter->second.transform().x(), iter->second.transform().y(), iter->second.transform().theta());
114  AISNavigation::TreePoseGraph2::InformationMatrix inf;
115  //Identity:
116  if(isCovarianceIgnored())
117  {
118  inf.values[0][0] = 1.0; inf.values[0][1] = 0.0; inf.values[0][2] = 0.0; // x
119  inf.values[1][0] = 0.0; inf.values[1][1] = 1.0; inf.values[1][2] = 0.0; // y
120  inf.values[2][0] = 0.0; inf.values[2][1] = 0.0; inf.values[2][2] = 1.0; // theta/yaw
121  }
122  else
123  {
124  inf.values[0][0] = iter->second.infMatrix().at<double>(0,0); // x-x
125  inf.values[0][1] = iter->second.infMatrix().at<double>(0,1); // x-y
126  inf.values[0][2] = iter->second.infMatrix().at<double>(0,5); // x-theta
127  inf.values[1][0] = iter->second.infMatrix().at<double>(1,0); // y-x
128  inf.values[1][1] = iter->second.infMatrix().at<double>(1,1); // y-y
129  inf.values[1][2] = iter->second.infMatrix().at<double>(1,5); // y-theta
130  inf.values[2][0] = iter->second.infMatrix().at<double>(5,0); // theta-x
131  inf.values[2][1] = iter->second.infMatrix().at<double>(5,1); // theta-y
132  inf.values[2][2] = iter->second.infMatrix().at<double>(5,5); // theta-theta
133  }
134 
135  int id1 = iter->second.from();
136  int id2 = iter->second.to();
137  if(id1 != id2 && id1 > 0 && id2 > 0)
138  {
139  AISNavigation::TreePoseGraph2::Vertex* v1=pg2.vertex(id1);
140  AISNavigation::TreePoseGraph2::Vertex* v2=pg2.vertex(id2);
141  UASSERT(v1 != 0);
142  UASSERT(v2 != 0);
143  AISNavigation::TreePoseGraph2::Transformation t(p);
144  if (!pg2.addEdge(v1, v2, t, inf))
145  {
146  UERROR("Map: Edge already exits between nodes %d and %d, skipping", id1, id2);
147  }
148  }
149  else if(id1 == id2)
150  {
151  UWARN("TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter %s). Link %d ignored...", Parameters::kOptimizerStrategy().c_str(), id1);
152  }
153  else if(id1 < 0 || id2 < 0)
154  {
155  UWARN("TORO optimizer doesn't support landmark links, use GTSAM or g2o optimizers (see parameter %s). Link %d->%d ignored...", Parameters::kOptimizerStrategy().c_str(), id1, id2);
156  }
157  }
158  }
159  else
160  {
161  for(std::multimap<int, Link>::const_iterator iter=edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
162  {
163  UASSERT(!iter->second.transform().isNull());
164  float x,y,z, roll,pitch,yaw;
165  iter->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
166 
167  AISNavigation::TreePoseGraph3::Pose p(x, y, z, roll, pitch, yaw);
168  AISNavigation::TreePoseGraph3::InformationMatrix inf = DMatrix<double>::I(6);
169  if(!isCovarianceIgnored())
170  {
171  memcpy(inf[0], iter->second.infMatrix().data, iter->second.infMatrix().total()*sizeof(double));
172  }
173 
174  int id1 = iter->second.from();
175  int id2 = iter->second.to();
176  if(id1 != id2 && id1 > 0 && id2 > 0)
177  {
178  AISNavigation::TreePoseGraph3::Vertex* v1=pg3.vertex(id1);
179  AISNavigation::TreePoseGraph3::Vertex* v2=pg3.vertex(id2);
180  UASSERT(v1 != 0);
181  UASSERT(v2 != 0);
182  AISNavigation::TreePoseGraph3::Transformation t(p);
183  if (!pg3.addEdge(v1, v2, t, inf))
184  {
185  UERROR("Map: Edge already exits between nodes %d and %d, skipping", id1, id2);
186  }
187  }
188  else if(id1 == id2)
189  {
190  UWARN("TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter %s). Link %d ignored...", Parameters::kOptimizerStrategy().c_str(), id1);
191  }
192  else if(id1 < 0 || id2 < 0)
193  {
194  UWARN("TORO optimizer doesn't support landmark links, use GTSAM or g2o optimizers (see parameter %s). Link %d->%d ignored...", Parameters::kOptimizerStrategy().c_str(), id1, id2);
195  }
196  }
197  }
198  UDEBUG("buildMST... root=%d", rootId);
199  UASSERT(uContains(poses, rootId));
200  if(isSlam2d())
201  {
202  pg2.buildMST(rootId); // pg.buildSimpleTree();
203  //UDEBUG("initializeOnTree()");
204  //pg2.initializeOnTree();
205  UDEBUG("initializeTreeParameters()");
206  pg2.initializeTreeParameters();
207  UDEBUG("Building TORO tree... (if a crash happens just after this msg, "
208  "TORO is not able to find the root of the graph!)");
209  pg2.initializeOptimization();
210  }
211  else
212  {
213  pg3.buildMST(rootId); // pg.buildSimpleTree();
214  //UDEBUG("initializeOnTree()");
215  //pg3.initializeOnTree();
216  UDEBUG("initializeTreeParameters()");
217  pg3.initializeTreeParameters();
218  UDEBUG("Building TORO tree... (if a crash happens just after this msg, "
219  "TORO is not able to find the root of the graph!)");
220  pg3.initializeOptimization();
221  }
222 
223  UINFO("Initial error = %f", pg2.error());
224  UINFO("TORO optimizing begin (iterations=%d)", iterations());
225  double lastError = 0;
226  int i=0;
227  UTimer timer;
228  for (; i<iterations(); i++)
229  {
230  if(intermediateGraphes && i>0)
231  {
232  std::map<int, Transform> tmpPoses;
233  if(isSlam2d())
234  {
235  for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
236  {
237  if(iter->first > 0)
238  {
239  AISNavigation::TreePoseGraph2::Vertex* v=pg2.vertex(iter->first);
240  float roll, pitch, yaw;
241  iter->second.getEulerAngles(roll, pitch, yaw);
242  Transform newPose(v->pose.x(), v->pose.y(), iter->second.z(), roll, pitch, v->pose.theta());
243 
244  UASSERT_MSG(!newPose.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str());
245  tmpPoses.insert(std::pair<int, Transform>(iter->first, newPose));
246  }
247  }
248  }
249  else
250  {
251  for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
252  {
253  if(iter->first > 0)
254  {
255  AISNavigation::TreePoseGraph3::Vertex* v=pg3.vertex(iter->first);
256  AISNavigation::TreePoseGraph3::Pose pose=v->transformation.toPoseType();
257  Transform newPose(pose.x(), pose.y(), pose.z(), pose.roll(), pose.pitch(), pose.yaw());
258 
259  UASSERT_MSG(!newPose.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str());
260  tmpPoses.insert(std::pair<int, Transform>(iter->first, newPose));
261  }
262  }
263  }
264  intermediateGraphes->push_back(tmpPoses);
265  }
266 
267  double error = 0;
268  if(isSlam2d())
269  {
270  pg2.iterate();
271 
272  // compute the error and dump it
273  error=pg2.error();
274  UDEBUG("iteration %d global error=%f error/constraint=%f", i, error, error/pg2.edges.size());
275  }
276  else
277  {
278  pg3.iterate();
279 
280  // compute the error and dump it
281  double mte, mre, are, ate;
282  error=pg3.error(&mre, &mte, &are, &ate);
283  UDEBUG("i %d RotGain=%f global error=%f error/constraint=%f",
284  i, pg3.getRotGain(), error, error/pg3.edges.size());
285  }
286 
287  // early stop condition
288  double errorDelta = lastError - error;
289  if(i>0 && errorDelta < this->epsilon())
290  {
291  if(errorDelta < 0)
292  {
293  UDEBUG("Negative improvement?! Ignore and continue optimizing... (%f < %f)", errorDelta, this->epsilon());
294  }
295  else
296  {
297  UINFO("Stop optimizing, not enough improvement (%f < %f)", errorDelta, this->epsilon());
298  break;
299  }
300  }
301  else if(i==0 && error < this->epsilon())
302  {
303  UINFO("Stop optimizing, error is already under epsilon (%f < %f)", error, this->epsilon());
304  break;
305  }
306  lastError = error;
307  }
308  if(finalError)
309  {
310  *finalError = lastError;
311  }
312  if(iterationsDone)
313  {
314  *iterationsDone = i;
315  }
316  UINFO("TORO optimizing end (%d iterations done, error=%f, time = %f s)", i, lastError, timer.ticks());
317 
318  if(isSlam2d())
319  {
320  for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
321  {
322  if(iter->first > 0)
323  {
324  AISNavigation::TreePoseGraph2::Vertex* v=pg2.vertex(iter->first);
325  float roll, pitch, yaw;
326  iter->second.getEulerAngles(roll, pitch, yaw);
327  Transform newPose(v->pose.x(), v->pose.y(), iter->second.z(), roll, pitch, v->pose.theta());
328 
329  UASSERT_MSG(!newPose.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str());
330  optimizedPoses.insert(std::pair<int, Transform>(iter->first, newPose));
331  }
332  }
333  }
334  else
335  {
336  for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
337  {
338  if(iter->first > 0)
339  {
340  AISNavigation::TreePoseGraph3::Vertex* v=pg3.vertex(iter->first);
341  AISNavigation::TreePoseGraph3::Pose pose=v->transformation.toPoseType();
342  Transform newPose(pose.x(), pose.y(), pose.z(), pose.roll(), pose.pitch(), pose.yaw());
343 
344  UASSERT_MSG(!newPose.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str());
345  optimizedPoses.insert(std::pair<int, Transform>(iter->first, newPose));
346  }
347  }
348  }
349 
350  // TORO doesn't compute marginals...
351  }
352  else if(poses.size() == 1 || iterations() <= 0)
353  {
354  optimizedPoses = poses;
355  }
356  else
357  {
358  UWARN("This method should be called at least with 1 pose!");
359  }
360  UDEBUG("Optimizing graph...end!");
361 #else
362  UERROR("Not built with TORO support!");
363 #endif
364  return optimizedPoses;
365 }
366 
367 bool OptimizerTORO::saveGraph(
368  const std::string & fileName,
369  const std::map<int, Transform> & poses,
370  const std::multimap<int, Link> & edgeConstraints)
371 {
372  FILE * file = 0;
373 
374 #ifdef _MSC_VER
375  fopen_s(&file, fileName.c_str(), "w");
376 #else
377  file = fopen(fileName.c_str(), "w");
378 #endif
379 
380  if(file)
381  {
382 
383  for (std::map<int, Transform>::const_iterator iter = poses.begin(); iter != poses.end(); ++iter)
384  {
385  if (isSlam2d())
386  {
387  // VERTEX2 id x y theta
388  fprintf(file, "VERTEX2 %d %f %f %f\n",
389  iter->first,
390  iter->second.x(),
391  iter->second.y(),
392  iter->second.theta());
393  }
394  else
395  {
396  // VERTEX3 id x y z phi theta psi
397  float x, y, z, yaw, pitch, roll;
398  iter->second.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
399  fprintf(file, "VERTEX3 %d %f %f %f %f %f %f\n",
400  iter->first,
401  x,
402  y,
403  z,
404  roll,
405  pitch,
406  yaw);
407  }
408  }
409 
410  for(std::multimap<int, Link>::const_iterator iter = edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
411  {
412  if (iter->second.type() != Link::kPosePrior && iter->second.type() != Link::kGravity)
413  {
414  if (isSlam2d())
415  {
416  //EDGE2 observed_vertex_id observing_vertex_id x y theta inf_11 inf_12 inf_13 inf_22 inf_23 inf_33
417  fprintf(file, "EDGE2 %d %d %f %f %f %f %f %f %f %f %f\n",
418  iter->second.from(),
419  iter->second.to(),
420  iter->second.transform().x(),
421  iter->second.transform().y(),
422  iter->second.transform().theta(),
423  iter->second.infMatrix().at<double>(0, 0),
424  iter->second.infMatrix().at<double>(0, 1),
425  iter->second.infMatrix().at<double>(0, 5),
426  iter->second.infMatrix().at<double>(1, 1),
427  iter->second.infMatrix().at<double>(1, 5),
428  iter->second.infMatrix().at<double>(5, 5));
429  }
430  else
431  {
432  //EDGE3 observed_vertex_id observing_vertex_id x y z roll pitch yaw inf_11 inf_12 .. inf_16 inf_22 .. inf_66
433  float x, y, z, yaw, pitch, roll;
434  iter->second.transform().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
435  fprintf(file, "EDGE3 %d %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
436  iter->second.from(),
437  iter->second.to(),
438  x,
439  y,
440  z,
441  roll,
442  pitch,
443  yaw,
444  iter->second.infMatrix().at<double>(0, 0),
445  iter->second.infMatrix().at<double>(0, 1),
446  iter->second.infMatrix().at<double>(0, 2),
447  iter->second.infMatrix().at<double>(0, 3),
448  iter->second.infMatrix().at<double>(0, 4),
449  iter->second.infMatrix().at<double>(0, 5),
450  iter->second.infMatrix().at<double>(1, 1),
451  iter->second.infMatrix().at<double>(1, 2),
452  iter->second.infMatrix().at<double>(1, 3),
453  iter->second.infMatrix().at<double>(1, 4),
454  iter->second.infMatrix().at<double>(1, 5),
455  iter->second.infMatrix().at<double>(2, 2),
456  iter->second.infMatrix().at<double>(2, 3),
457  iter->second.infMatrix().at<double>(2, 4),
458  iter->second.infMatrix().at<double>(2, 5),
459  iter->second.infMatrix().at<double>(3, 3),
460  iter->second.infMatrix().at<double>(3, 4),
461  iter->second.infMatrix().at<double>(3, 5),
462  iter->second.infMatrix().at<double>(4, 4),
463  iter->second.infMatrix().at<double>(4, 5),
464  iter->second.infMatrix().at<double>(5, 5));
465  }
466  }
467  }
468  UINFO("Graph saved to %s", fileName.c_str());
469  fclose(file);
470  }
471  else
472  {
473  UERROR("Cannot save to file %s", fileName.c_str());
474  return false;
475  }
476  return true;
477 }
478 
479 bool OptimizerTORO::loadGraph(
480  const std::string & fileName,
481  std::map<int, Transform> & poses,
482  std::multimap<int, Link> & edgeConstraints)
483 {
484  FILE * file = 0;
485 #ifdef _MSC_VER
486  fopen_s(&file, fileName.c_str(), "r");
487 #else
488  file = fopen(fileName.c_str(), "r");
489 #endif
490 
491  if(file)
492  {
493  char line[400];
494  while ( fgets (line , 400 , file) != NULL )
495  {
496  std::vector<std::string> strList = uListToVector(uSplit(uReplaceChar(line, '\n', ' '), ' '));
497  if(strList.size() == 8)
498  {
499  //VERTEX3
500  int id = atoi(strList[1].c_str());
501  float x = uStr2Float(strList[2]);
502  float y = uStr2Float(strList[3]);
503  float z = uStr2Float(strList[4]);
504  float roll = uStr2Float(strList[5]);
505  float pitch = uStr2Float(strList[6]);
506  float yaw = uStr2Float(strList[7]);
507  Transform pose(x, y, z, roll, pitch, yaw);
508  if(poses.find(id) == poses.end())
509  {
510  poses.insert(std::make_pair(id, pose));
511  }
512  else
513  {
514  UFATAL("Pose %d already added", id);
515  }
516  }
517  else if(strList.size() == 30)
518  {
519  //EDGE3
520  int idFrom = atoi(strList[1].c_str());
521  int idTo = atoi(strList[2].c_str());
522  float x = uStr2Float(strList[3]);
523  float y = uStr2Float(strList[4]);
524  float z = uStr2Float(strList[5]);
525  float roll = uStr2Float(strList[6]);
526  float pitch = uStr2Float(strList[7]);
527  float yaw = uStr2Float(strList[8]);
528  cv::Mat informationMatrix(6,6,CV_64FC1);
529  informationMatrix.at<double>(3,3) = uStr2Float(strList[9]);
530  informationMatrix.at<double>(4,4) = uStr2Float(strList[15]);
531  informationMatrix.at<double>(5,5) = uStr2Float(strList[20]);
532  UASSERT_MSG(informationMatrix.at<double>(3,3) > 0.0 && informationMatrix.at<double>(4,4) > 0.0 && informationMatrix.at<double>(5,5) > 0.0, uFormat("Information matrix should not be null! line=\"%s\"", line).c_str());
533  informationMatrix.at<double>(0,0) = uStr2Float(strList[24]);
534  informationMatrix.at<double>(1,1) = uStr2Float(strList[27]);
535  informationMatrix.at<double>(2,2) = uStr2Float(strList[29]);
536  UASSERT_MSG(informationMatrix.at<double>(0,0) > 0.0 && informationMatrix.at<double>(1,1) > 0.0 && informationMatrix.at<double>(2,2) > 0.0, uFormat("Information matrix should not be null! line=\"%s\"", line).c_str());
537  Transform transform(x, y, z, roll, pitch, yaw);
538  if(poses.find(idFrom) != poses.end() && poses.find(idTo) != poses.end())
539  {
540  //Link type is unknown
541  Link link(idFrom, idTo, Link::kUndef, transform, informationMatrix);
542  edgeConstraints.insert(std::pair<int, Link>(idFrom, link));
543  }
544  else
545  {
546  UFATAL("Referred poses from the link not exist!");
547  }
548  }
549  else if(strList.size())
550  {
551  UFATAL("Error parsing graph file %s on line \"%s\" (strList.size()=%d)", fileName.c_str(), line, (int)strList.size());
552  }
553  }
554 
555  UINFO("Graph loaded from %s", fileName.c_str());
556  fclose(file);
557  }
558  else
559  {
560  UERROR("Cannot open file %s", fileName.c_str());
561  return false;
562  }
563  return true;
564 }
565 
566 } /* namespace rtabmap */
AISNavigation::TreePoseGraph::edges
EdgeMap edges
Definition: posegraph.h:254
AISNavigation::TreeOptimizer3::error
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Definition: treeoptimizer3.cpp:250
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Definition: transformation3.h:121
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Definition: treeoptimizer2.cpp:78
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Definition: OptimizerTORO.cpp:479
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Class that contains the core optimization algorithm.
Definition: treeoptimizer2.h:52
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Definition: treeoptimizer3.h:52
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Definition: treeoptimizer2.cpp:361
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Definition: Transform.cpp:107
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Definition: OptimizerTORO.cpp:54
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Definition: Optimizer.h:91
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Definition: transformation3.h:118
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Definition: posegraph3.h:113
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Definition: transformation2.h:292
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Definition: transformation3.h:119
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Definition: transformation2.h:120
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Definition: transformation3.h:122
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Definition: treeoptimizer3.h:85
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Definition: OptimizerTORO.cpp:45
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Definition: Optimizer.h:90
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Definition: Optimizer.h:92
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Definition: CameraARCore.cpp:35
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Definition: transformation2.h:161
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Definition: treeoptimizer3.cpp:74
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Definition: posegraph2.h:103
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Definition: transformation3.h:120
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Definition: posegraph3.h:67
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Definition: treeoptimizer3.cpp:68
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Definition: treeoptimizer3.cpp:293
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Definition: transformation3.h:117
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Definition: transformation3.h:256

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:14