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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: vitus@google.com (Michael Vitus)
#include <fstream>
#include <iostream>
#include <string>
#include "Eigen/Core"
#include "absl/flags/flag.h"
#include "absl/flags/parse.h"
#include "absl/log/check.h"
#include "absl/log/initialize.h"
#include "absl/log/log.h"
#include "ceres/ceres.h"
#include "common/read_g2o.h"
#include "pose_graph_3d_error_term.h"
#include "types.h"
ABSL_FLAG(std::string,
input,
"",
"The pose graph definition filename in g2o format.");
namespace ceres::examples {
namespace {
// Constructs the nonlinear least squares optimization problem from the pose
// graph constraints.
void BuildOptimizationProblem(const VectorOfConstraints& constraints,
MapOfPoses* poses,
ceres::Problem* problem) {
CHECK(poses != nullptr);
CHECK(problem != nullptr);
if (constraints.empty()) {
LOG(INFO) << "No constraints, no problem to optimize.";
return;
}
ceres::LossFunction* loss_function = nullptr;
ceres::Manifold* quaternion_manifold = new EigenQuaternionManifold;
for (const auto& constraint : constraints) {
auto pose_begin_iter = poses->find(constraint.id_begin);
CHECK(pose_begin_iter != poses->end())
<< "Pose with ID: " << constraint.id_begin << " not found.";
auto pose_end_iter = poses->find(constraint.id_end);
CHECK(pose_end_iter != poses->end())
<< "Pose with ID: " << constraint.id_end << " not found.";
const Eigen::Matrix<double, 6, 6> sqrt_information =
constraint.information.llt().matrixL();
// Ceres will take ownership of the pointer.
ceres::CostFunction* cost_function =
PoseGraph3dErrorTerm::Create(constraint.t_be, sqrt_information);
problem->AddResidualBlock(cost_function,
loss_function,
pose_begin_iter->second.p.data(),
pose_begin_iter->second.q.coeffs().data(),
pose_end_iter->second.p.data(),
pose_end_iter->second.q.coeffs().data());
problem->SetManifold(pose_begin_iter->second.q.coeffs().data(),
quaternion_manifold);
problem->SetManifold(pose_end_iter->second.q.coeffs().data(),
quaternion_manifold);
}
// The pose graph optimization problem has six DOFs that are not fully
// constrained. This is typically referred to as gauge freedom. You can apply
// a rigid body transformation to all the nodes and the optimization problem
// will still have the exact same cost. The Levenberg-Marquardt algorithm has
// internal damping which mitigates this issue, but it is better to properly
// constrain the gauge freedom. This can be done by setting one of the poses
// as constant so the optimizer cannot change it.
auto pose_start_iter = poses->begin();
CHECK(pose_start_iter != poses->end()) << "There are no poses.";
problem->SetParameterBlockConstant(pose_start_iter->second.p.data());
problem->SetParameterBlockConstant(pose_start_iter->second.q.coeffs().data());
}
// Returns true if the solve was successful.
bool SolveOptimizationProblem(ceres::Problem* problem) {
CHECK(problem != nullptr);
ceres::Solver::Options options;
options.max_num_iterations = 200;
options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
ceres::Solver::Summary summary;
ceres::Solve(options, problem, &summary);
std::cout << summary.FullReport() << '\n';
return summary.IsSolutionUsable();
}
// Output the poses to the file with format: id x y z q_x q_y q_z q_w.
bool OutputPoses(const std::string& filename, const MapOfPoses& poses) {
std::fstream outfile;
outfile.open(filename.c_str(), std::istream::out);
if (!outfile) {
LOG(ERROR) << "Error opening the file: " << filename;
return false;
}
for (const auto& pair : poses) {
outfile << pair.first << " " << pair.second.p.transpose() << " "
<< pair.second.q.x() << " " << pair.second.q.y() << " "
<< pair.second.q.z() << " " << pair.second.q.w() << '\n';
}
return true;
}
} // namespace
} // namespace ceres::examples
int main(int argc, char** argv) {
absl::InitializeLog();
absl::ParseCommandLine(argc, argv);
if (absl::GetFlag(FLAGS_input).empty()) {
LOG(ERROR) << "Usage pose_graph_3d --input=<filename>";
return 1;
}
ceres::examples::MapOfPoses poses;
ceres::examples::VectorOfConstraints constraints;
CHECK(ceres::examples::ReadG2oFile(
absl::GetFlag(FLAGS_input), &poses, &constraints))
<< "Error reading the file: " << absl::GetFlag(FLAGS_input);
std::cout << "Number of poses: " << poses.size() << '\n';
std::cout << "Number of constraints: " << constraints.size() << '\n';
CHECK(ceres::examples::OutputPoses("poses_original.txt", poses))
<< "Error outputting to poses_original.txt";
ceres::Problem problem;
ceres::examples::BuildOptimizationProblem(constraints, &poses, &problem);
CHECK(ceres::examples::SolveOptimizationProblem(&problem))
<< "The solve was not successful, exiting.";
CHECK(ceres::examples::OutputPoses("poses_optimized.txt", poses))
<< "Error outputting to poses_original.txt";
return 0;
}