cartographer/cartographer_grpc/map_builder_context.cc

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/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer_grpc/map_builder_context.h"
#include "cartographer_grpc/map_builder_server.h"
namespace cartographer_grpc {
MapBuilderContext::MapBuilderContext(MapBuilderServer* map_builder_server)
: map_builder_server_(map_builder_server) {}
cartographer::mapping::MapBuilderInterface& MapBuilderContext::map_builder() {
return *map_builder_server_->map_builder_;
}
cartographer::common::BlockingQueue<
std::unique_ptr<MapBuilderContextInterface::Data>>&
MapBuilderContext::sensor_data_queue() {
return map_builder_server_->incoming_data_queue_;
}
cartographer::mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
MapBuilderContext::GetLocalSlamResultCallbackForSubscriptions() {
MapBuilderServer* map_builder_server = map_builder_server_;
return [map_builder_server](
int trajectory_id, cartographer::common::Time time,
cartographer::transform::Rigid3d local_pose,
cartographer::sensor::RangeData range_data,
std::unique_ptr<const cartographer::mapping::
TrajectoryBuilderInterface::InsertionResult>
insertion_result) {
map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
std::move(range_data),
std::move(insertion_result));
};
}
void MapBuilderContext::AddSensorDataToTrajectory(const Data& sensor_data) {
sensor_data.data->AddToTrajectoryBuilder(
map_builder_server_->map_builder_->GetTrajectoryBuilder(
sensor_data.trajectory_id));
}
MapBuilderContextInterface::SubscriptionId
MapBuilderContext::SubscribeLocalSlamResults(
int trajectory_id, LocalSlamSubscriptionCallback callback) {
return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
callback);
}
void MapBuilderContext::UnsubscribeLocalSlamResults(
const SubscriptionId& subscription_id) {
map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
}
void MapBuilderContext::NotifyFinishTrajectory(int trajectory_id) {
map_builder_server_->NotifyFinishTrajectory(trajectory_id);
}
std::shared_ptr<cartographer::mapping_2d::Submap>
MapBuilderContext::UpdateSubmap2D(
const cartographer::mapping::proto::Submap& proto) {
CHECK(proto.has_submap_2d());
cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
proto.submap_id().submap_index()};
std::shared_ptr<cartographer::mapping_2d::Submap> submap_2d_ptr;
auto submap_it = unfinished_submaps_.find(submap_id);
if (submap_it == unfinished_submaps_.end()) {
// Seeing a submap for the first time it should never be finished.
CHECK(!proto.submap_2d().finished());
submap_2d_ptr =
std::make_shared<cartographer::mapping_2d::Submap>(proto.submap_2d());
unfinished_submaps_.Insert(submap_id, submap_2d_ptr);
} else {
submap_2d_ptr = std::dynamic_pointer_cast<cartographer::mapping_2d::Submap>(
submap_it->data);
CHECK(submap_2d_ptr);
submap_2d_ptr->UpdateFromProto(proto);
// If the submap was just finished by the recent update, remove it from the
// list of unfinished submaps.
if (submap_2d_ptr->finished()) {
unfinished_submaps_.Trim(submap_id);
} else {
// If the submap is unfinished set the 'num_range_data' to 0 since we
// haven't changed the HybridGrid.
submap_2d_ptr->SetNumRangeData(0);
}
}
return submap_2d_ptr;
}
std::shared_ptr<cartographer::mapping_3d::Submap>
MapBuilderContext::UpdateSubmap3D(
const cartographer::mapping::proto::Submap& proto) {
CHECK(proto.has_submap_3d());
cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
proto.submap_id().submap_index()};
std::shared_ptr<cartographer::mapping_3d::Submap> submap_3d_ptr;
auto submap_it = unfinished_submaps_.find(submap_id);
if (submap_it == unfinished_submaps_.end()) {
// Seeing a submap for the first time it should never be finished.
CHECK(!proto.submap_3d().finished());
submap_3d_ptr =
std::make_shared<cartographer::mapping_3d::Submap>(proto.submap_3d());
unfinished_submaps_.Insert(submap_id, submap_3d_ptr);
submap_it = unfinished_submaps_.find(submap_id);
} else {
submap_3d_ptr = std::dynamic_pointer_cast<cartographer::mapping_3d::Submap>(
submap_it->data);
CHECK(submap_3d_ptr);
// Update submap with information in incoming request.
submap_3d_ptr->UpdateFromProto(proto);
// If the submap was just finished by the recent update, remove it from the
// list of unfinished submaps.
if (submap_3d_ptr->finished()) {
unfinished_submaps_.Trim(submap_id);
} else {
// If the submap is unfinished set the 'num_range_data' to 0 since we
// haven't changed the HybridGrid.
submap_3d_ptr->SetNumRangeData(0);
}
}
return submap_3d_ptr;
}
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
MapBuilderContext::ProcessLocalSlamResultData(
const std::string& sensor_id, cartographer::common::Time time,
const cartographer::mapping::proto::LocalSlamResultData& proto) {
CHECK_GE(proto.submaps().size(), 1);
CHECK(proto.submaps(0).has_submap_2d() || proto.submaps(0).has_submap_3d());
if (proto.submaps(0).has_submap_2d()) {
std::vector<std::shared_ptr<const cartographer::mapping_2d::Submap>>
submaps;
for (const auto& submap_proto : proto.submaps()) {
submaps.push_back(UpdateSubmap2D(submap_proto));
}
return cartographer::common::make_unique<
cartographer::mapping::LocalSlamResult2D>(
sensor_id, time,
std::make_shared<const cartographer::mapping::TrajectoryNode::Data>(
cartographer::mapping::FromProto(proto.node_data())),
submaps);
} else {
std::vector<std::shared_ptr<const cartographer::mapping_3d::Submap>>
submaps;
for (const auto& submap_proto : proto.submaps()) {
submaps.push_back(UpdateSubmap3D(submap_proto));
}
return cartographer::common::make_unique<
cartographer::mapping::LocalSlamResult3D>(
sensor_id, time,
std::make_shared<const cartographer::mapping::TrajectoryNode::Data>(
cartographer::mapping::FromProto(proto.node_data())),
std::move(submaps));
}
}
LocalTrajectoryUploaderInterface*
MapBuilderContext::local_trajectory_uploader() {
return map_builder_server_->local_trajectory_uploader_.get();
}
void MapBuilderContext::EnqueueSensorData(
int trajectory_id, std::unique_ptr<cartographer::sensor::Data> data) {
map_builder_server_->incoming_data_queue_.Push(
cartographer::common::make_unique<Data>(
Data{trajectory_id, std::move(data)}));
}
void MapBuilderContext::EnqueueLocalSlamResultData(
int trajectory_id, const std::string& sensor_id,
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
local_slam_result_data) {
map_builder_server_->incoming_data_queue_.Push(
cartographer::common::make_unique<Data>(
Data{trajectory_id, std::move(local_slam_result_data)}));
}
} // namespace cartographer_grpc