diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index 5d17f0bbbc9f9f41b22a3d63dc47df542ac7b17e..daedfde9cfa3bf66eb10a97da6b352f0eaeecc25 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -50,7 +50,7 @@ unsigned int ProcessorOdomICP::processKnown()
{
// Match the incoming with the origin, passing the transform from origin to last as initialization
- if (processing_step_ != FIRST_TIME_WITH_PACK && processing_step_ != FIRST_TIME_WITHOUT_PACK) //FIRST_TIME
+ if (processing_step_ != FIRST_TIME_WITH_PACK && processing_step_ != FIRST_TIME_WITHOUT_PACK) // It's not FIRST_TIME
{
CaptureLaser2DPtr origin_ptr = std::static_pointer_cast<CaptureLaser2D>(origin_ptr_);
CaptureLaser2DPtr incoming_ptr = std::static_pointer_cast<CaptureLaser2D>(incoming_ptr_);
@@ -92,44 +92,48 @@ bool ProcessorOdomICP::voteForKeyFrame()
inline bool ProcessorOdomICP::voteForKeyFrameDistance()
{
- if (trf_origin_incoming_.res_transf.head<2>().norm() > proc_params_->vfk_min_dist)
- {
- std::cout << "Distance True" << '\n';
- }
+ bool vote = (trf_origin_incoming_.res_transf.head<2>().norm() > proc_params_->vfk_min_dist);
+ if (vote)
+ {
+ std::cout << "Distance True" << '\n';
+ }
- return (trf_origin_incoming_.res_transf.head<2>().norm() > proc_params_->vfk_min_dist);
+ return vote;
}
inline bool ProcessorOdomICP::voteForKeyFrameAngle()
{
+ bool vote = (fabs(trf_origin_incoming_.res_transf(2)) > proc_params_->vfk_min_angle);
+ if (vote)
+ {
+ std::cout << "Angle True" << '\n';
+ }
- if (fabs(trf_origin_incoming_.res_transf(2)) > proc_params_->vfk_min_angle)
- {
- std::cout << "Angle True" << '\n';
- }
-
- return (fabs(trf_origin_incoming_.res_transf(2)) > proc_params_->vfk_min_angle);
+ return vote;
}
inline bool ProcessorOdomICP::voteForKeyFrameTime()
{
- Scalar secs = incoming_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp();
+ Scalar secs = incoming_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp();
- if (secs > proc_params_->vfk_min_time)
- {
- std::cout << "Time True" << '\n';
- }
+ bool vote = (secs > proc_params_->vfk_min_time);
- return (secs > proc_params_->vfk_min_time);
+ if (vote)
+ {
+ std::cout << "Time True" << '\n';
+ }
+
+ return vote;
}
inline bool ProcessorOdomICP::voteForKeyFrameMatchQuality()
{
- if (trf_origin_incoming_.error > proc_params_->vfk_min_error || trf_origin_incoming_.nvalid < proc_params_->vfk_max_points)
- {
- std::cout << "Quality True" << '\n';
- }
- return (trf_origin_incoming_.error > proc_params_->vfk_min_error || trf_origin_incoming_.nvalid < proc_params_->vfk_max_points) ;
+ bool vote = (trf_origin_incoming_.error > proc_params_->vfk_min_error || trf_origin_incoming_.nvalid < proc_params_->vfk_max_points);
+ if (vote)
+ {
+ std::cout << "Quality True" << '\n';
+ }
+ return vote ;
}
@@ -137,22 +141,18 @@ void ProcessorOdomICP::advanceDerived()
{
using namespace Eigen;
- WOLF_TRACE("========================== ADVANCE =================================");
- WOLF_TRACE("========================== ADVANCE =================================");
- WOLF_TRACE("========================== ADVANCE =================================");
// overwrite last frame's state
- Isometry2ds w_T_ro = Translation2ds(origin_ptr_->getFrame()->getState().head(2)) * Rotation2Ds(origin_ptr_->getFrame()->getState()(2));
- Isometry2ds ro_T_so = Translation2ds(origin_ptr_->getSensorP()->getState()) * Rotation2Ds(origin_ptr_->getSensorO()->getState()(0));
+ Isometry2ds w_T_ro = Translation2ds(origin_ptr_->getFrame()->getState().head(2)) * Rotation2Ds(origin_ptr_->getFrame()->getState()(2));
+ Isometry2ds ro_T_so = Translation2ds(origin_ptr_->getSensorP()->getState()) * Rotation2Ds(origin_ptr_->getSensorO()->getState()(0));
+ Isometry2ds& ri_T_si = ro_T_so; // A reference just to have nice names without computing overhead
// incoming
Isometry2ds so_T_si = Translation2ds(trf_origin_incoming_.res_transf.head(2)) * Rotation2Ds(trf_origin_incoming_.res_transf(2));
- Isometry2ds w_T_ri = w_T_ro * ro_T_so * so_T_si * ro_T_so.inverse();
+ Isometry2ds w_T_ri = w_T_ro * ro_T_so * so_T_si * ri_T_si.inverse();
Vector3s x_inc; x_inc << w_T_ri.translation() , Rotation2Ds(w_T_ri.rotation()).angle();
- WOLF_TRACE("x_inc ", x_inc.transpose());
-
// Put the state of incoming in last
last_ptr_->getFrame()->setState(x_inc);
@@ -162,13 +162,9 @@ void ProcessorOdomICP::advanceDerived()
void ProcessorOdomICP::resetDerived()
{
- WOLF_TRACE("========================== RESET =================================");
-
// Using processing_step_ to ensure that origin, last and incoming are different
if (processing_step_ != FIRST_TIME_WITH_PACK && processing_step_ != FIRST_TIME_WITHOUT_PACK)
{
- WOLF_TRACE("========================== RESET =================================");
- WOLF_TRACE("========================== RESET =================================");
// Notation explanation:
// x1_R_x2: Rotation from frame x1 to frame x2
// x1_p_y1_y2: translation vector from y1 to y2 expressed in frame x1
@@ -196,11 +192,7 @@ void ProcessorOdomICP::resetDerived()
curr_state.head(2) = w_p_w_rl;
curr_state(2) = origin_ptr_->getFrame()->getState()(2) + trf_origin_last_.res_transf(2);
- WOLF_TRACE("x_last ", curr_state.transpose());
-
last_ptr_->getFrame()->setState(curr_state);
- std::cout << "[KEY FRAME DONE: ]" << '\n';
- std::cout << "Current state" << last_ptr_->getFrame()->getState() << '\n';
trf_origin_last_ = trf_last_incoming_;
}
@@ -208,8 +200,8 @@ void ProcessorOdomICP::resetDerived()
void ProcessorOdomICP::establishFactors()
{
- auto ftr_ptr = emplaceFeature(last_ptr_);
- emplaceFactor(ftr_ptr);
+ auto ftr_ptr = emplaceFeature(last_ptr_);
+ emplaceFactor(ftr_ptr);
}
FeatureBasePtr ProcessorOdomICP::emplaceFeature(CaptureBasePtr _capture_laser)
diff --git a/test/gtest_processor_odom_icp.cpp b/test/gtest_processor_odom_icp.cpp
index 453ece204cc4d2a56d1ae213c5a60c031f1413f1..b1ab8549796fabb090db8d124cc4c26d6f348349 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -38,7 +38,8 @@ class ProcessorOdomICP_Test : public testing::Test
TimeStamp t0;
Vector3s x0;
- FrameBasePtr F0, F1, F2, F3; // keyframes
+ Matrix3s P0;
+ FrameBasePtr F0, F; // keyframes
virtual void SetUp()
{
@@ -50,9 +51,10 @@ class ProcessorOdomICP_Test : public testing::Test
auto prc = problem->installProcessor("ODOM ICP", "prc icp", "lidar", laser_root_dir + "/test/yaml/processor_odom_ICP.yaml");
processor = std::static_pointer_cast<ProcessorOdomICPPublic>(prc);
+ WOLF_TRACE("\n\n========== Prior ==========")
t0 = 0.0;
x0 = Vector3s(0,0,0);
- Matrix3s P0; P0.setIdentity();
+ P0 . setIdentity();
F0 = problem->setPrior(x0, P0, t0, 0.1);
}
virtual void TearDown(){}
@@ -106,7 +108,6 @@ TEST_F(ProcessorOdomICP_Test, full)
{
std::vector<float> ranges({49.97591781616211, 49.996429443359375, 49.999759674072266, 50.0, 50.0, 50.0, 49.998634338378906, 50.0, 50.0, 49.99236297607422, 49.99384307861328, 50.0, 49.9869270324707, 50.0, 49.99005889892578, 49.99773406982422, 50.0, 49.98741912841797, 50.0, 49.99842071533203, 50.0, 49.99243927001953, 49.997291564941406, 50.0, 50.0, 49.98580551147461, 49.991844177246094, 49.98896026611328, 50.0, 50.0, 49.9897346496582, 49.998111724853516, 49.99882125854492, 50.0, 50.0, 50.0, 50.0, 49.999698638916016, 50.0, 50.0, 50.0, 50.0, 49.991397857666016, 49.99360275268555, 49.999027252197266, 49.99750900268555, 49.99100112915039, 49.998714447021484, 49.98794174194336, 50.0, 50.0, 50.0, 50.0, 50.0, 49.98186492919922, 50.0, 50.0, 50.0, 49.99155807495117, 49.997196197509766, 49.98872375488281, 49.99138259887695, 50.0, 49.99021530151367, 49.99164581298828, 50.0, 49.991390228271484, 50.0, 50.0, 50.0, 49.997249603271484, 50.0, 49.991851806640625, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.97983169555664, 49.98630142211914, 50.0, 20.6888370513916, 49.9797477722168, 49.98846435546875, 49.99418640136719, 50.0, 50.0, 50.0, 49.99342346191406, 50.0, 49.9906005859375, 50.0, 49.99853515625, 49.989444732666016, 38.552852630615234, 38.28703689575195, 38.04865264892578, 37.78112030029297, 37.54747772216797, 37.28171157836914, 37.206565856933594, 36.835411071777344, 36.61864471435547, 36.39655685424805, 36.1579475402832, 35.95964431762695, 35.75605773925781, 35.552188873291016, 35.75926208496094, 36.27781677246094, 35.16993713378906, 34.99699401855469, 34.82910919189453, 34.6483039855957, 34.48637390136719, 34.32539749145508, 34.16202163696289, 34.232051849365234, 33.86043167114258, 33.71691131591797, 33.566650390625, 33.42384338378906, 33.2882080078125, 33.16693115234375, 33.041419982910156, 32.906009674072266, 33.008323669433594, 33.706356048583984, 34.43825149536133, 35.25088119506836, 36.05652618408203, 36.930118560791016, 37.83384704589844, 33.12321472167969, 33.02351760864258, 32.9192008972168, 32.82925796508789, 32.74382781982422, 32.64959716796875, 32.580204010009766, 32.49120330810547, 33.05714797973633, 32.343536376953125, 32.26381301879883, 32.21063232421875, 32.12488555908203, 32.06965255737305, 32.0222282409668, 31.954957962036133, 31.903532028198242, 31.83578872680664, 32.51456832885742, 34.189456939697266, 31.12668228149414, 31.076339721679688, 31.047151565551758, 30.967018127441406, 30.956220626831055, 30.924589157104492, 30.893285751342773, 30.869199752807617, 30.843050003051758, 32.791847229003906, 30.809431076049805, 30.79128074645996, 30.779237747192383, 30.776460647583008, 30.74305534362793, 30.74994468688965, 30.7137393951416, 30.734609603881836, 30.719928741455078, 30.71673011779785, 49.99970626831055, 50.0, 49.987911224365234, 33.68583679199219, 31.76846694946289, 31.8026123046875, 31.802202224731445, 31.818490982055664, 31.85223960876465, 31.86141014099121, 31.906801223754883, 31.93423843383789, 31.964210510253906, 33.567230224609375, 32.055015563964844, 32.07001876831055, 32.13076400756836, 32.16000747680664, 32.22781753540039, 32.26890563964844, 32.323944091796875, 32.36326217651367, 32.430908203125, 49.980655670166016, 34.32135772705078, 33.09465789794922, 32.27247619628906, 32.33710479736328, 32.41763687133789, 32.498661041259766, 32.57213592529297, 32.67158126831055, 32.74591827392578, 32.814476013183594, 32.93477249145508, 33.04751968383789, 33.136863708496094, 33.23999786376953, 33.34675979614258, 33.42970657348633, 33.53573226928711, 33.66716003417969, 33.78378677368164, 33.905670166015625, 34.02836608886719, 34.151817321777344, 34.2794189453125, 34.41516876220703, 34.551273345947266, 34.702728271484375, 34.84151840209961, 34.986881256103516, 35.162757873535156, 35.332794189453125, 35.47941970825195, 35.65633010864258, 35.82624435424805, 36.00060272216797, 36.17729187011719, 36.36515808105469, 36.55763626098633, 36.744773864746094, 38.46407699584961, 37.869808197021484, 37.767921447753906, 37.958900451660156, 38.20857620239258, 38.38622283935547, 38.68323516845703, 38.871334075927734, 39.151519775390625, 39.377750396728516, 39.68268966674805, 39.89873123168945, 40.197330474853516, 40.47549819946289, 40.73743438720703, 41.04566955566406, 42.33650207519531, 41.92591094970703, 41.43912124633789, 41.045528411865234, 41.32114028930664, 41.581878662109375, 41.944580078125, 42.318912506103516, 42.6725959777832, 43.07264709472656, 43.443477630615234, 43.83216094970703, 44.19996643066406, 44.63225555419922, 45.06049346923828, 45.468536376953125, 45.89896774291992, 46.330604553222656, 46.778343200683594, 47.31666946411133, 47.789310455322266, 48.26376724243164, 48.826602935791016, 49.33188247680664, 49.990909576416016, 50.0, 50.0, 50.0, 50.0, 49.995697021484375, 49.99568176269531, 49.98163986206055, 50.0, 50.0, 49.9764289855957, 50.0, 50.0, 49.98639678955078, 49.99431228637695, 50.0, 50.0, 50.0, 50.0, 49.9874267578125, 50.0, 49.98714828491211, 50.0, 49.99470901489258, 49.99113464355469, 50.0, 50.0, 50.0, 49.985504150390625, 49.99067306518555, 50.0, 49.997161865234375, 50.0, 50.0, 50.0, 49.995513916015625, 49.993038177490234, 50.0, 49.99763107299805, 50.0, 49.98752975463867, 50.0, 49.988037109375, 50.0, 50.0, 50.0, 49.9975700378418, 50.0, 49.998756408691406, 49.97819519042969, 49.99104690551758, 49.99087905883789, 49.94268798828125, 49.85968017578125, 49.786617279052734, 49.70594787597656, 49.62562561035156, 49.56686782836914, 49.50475311279297, 49.416934967041016, 49.35699462890625, 49.308589935302734, 49.990482330322266, 50.0, 49.998836517333984, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 49.980472564697266, 49.99903869628906, 50.0, 50.0, 49.989845275878906, 49.98395919799805, 50.0, 49.99302673339844, 49.99530792236328, 49.99745559692383, 50.0, 49.99560546875, 21.569303512573242});
- WOLF_TRACE("\n\n========== Prior ==========")
problem->print(4,1,1,0);
TimeStamp t(t0);
@@ -120,19 +121,25 @@ TEST_F(ProcessorOdomICP_Test, full)
CaptureLaser2DPtr scan = std::make_shared<CaptureLaser2D>(t, lidar, ranges);
scan->process();
- problem->print(1,1,1,0);
- F1 = problem->getLastFrame();
+ F = problem->getLastFrame();
+
+ WOLF_TRACE("F", F->id() , " ", F->getState().transpose());
if (i >= 2 && i <= 4)
{
// perturb F1
- F1->setState(0.01 * Vector3s::Random());
+ F->setState(0.1 * Vector3s::Random());
+ WOLF_TRACE("F", F->id() , " ", F->getState().transpose(), " perturbed!");
}
+ problem->print(4,1,1,0);
+
t += 1.0;
}
+ ASSERT_MATRIX_APPROX(F->getState(), x0, 1e-6);
+
}