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Add support for serializing to a proto stream. (#379) 

Also changes the ground truth tools to read from such a file.

This resolves #335. Related to #253.
master
Wolfgang Hess 2017-07-03 15:23:15 +02:00 committed by GitHub
parent 54bd81a78b
commit 03b9285034
4 changed files with 21 additions and 6 deletions
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8
cartographer/ground_truth/autogenerate_ground_truth_main.cc
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@ -20,6 +20,7 @@
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/ground_truth/proto/relations.pb.h" #include "cartographer/ground_truth/proto/relations.pb.h"
#include "cartographer/io/proto_stream.h"
#include "cartographer/mapping/proto/sparse_pose_graph.pb.h" #include "cartographer/mapping/proto/sparse_pose_graph.pb.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "gflags/gflags.h" #include "gflags/gflags.h"
@ -27,7 +28,8 @@
DEFINE_string( DEFINE_string(
pose_graph_filename, "", pose_graph_filename, "",
"File with the pose graph proto from which to generate ground truth data."); "Proto stream file containing the pose graph used to generate ground truth "
"data.");
DEFINE_string(output_filename, "", "File to write the ground truth proto to."); DEFINE_string(output_filename, "", "File to write the ground truth proto to.");
DEFINE_double(min_covered_distance, 100., DEFINE_double(min_covered_distance, 100.,
"Minimum covered distance in meters before a loop closure is " "Minimum covered distance in meters before a loop closure is "
@ -168,8 +170,8 @@ void Run(const string& pose_graph_filename, const string& output_filename,
LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'..."; LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'...";
mapping::proto::SparsePoseGraph pose_graph; mapping::proto::SparsePoseGraph pose_graph;
{ {
std::ifstream stream(pose_graph_filename.c_str()); io::ProtoStreamReader reader(pose_graph_filename);
CHECK(pose_graph.ParseFromIstream(&stream)); CHECK(reader.ReadProto(&pose_graph));
CHECK_EQ(pose_graph.trajectory_size(), 1) CHECK_EQ(pose_graph.trajectory_size(), 1)
<< "Only pose graphs containing a single trajectory are supported."; << "Only pose graphs containing a single trajectory are supported.";
} }

7
cartographer/ground_truth/compute_relations_metrics_main.cc
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@ -27,6 +27,7 @@
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/ground_truth/proto/relations.pb.h" #include "cartographer/ground_truth/proto/relations.pb.h"
#include "cartographer/ground_truth/relations_text_file.h" #include "cartographer/ground_truth/relations_text_file.h"
#include "cartographer/io/proto_stream.h"
#include "cartographer/mapping/proto/sparse_pose_graph.pb.h" #include "cartographer/mapping/proto/sparse_pose_graph.pb.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
@ -36,7 +37,7 @@
DEFINE_string( DEFINE_string(
pose_graph_filename, "", pose_graph_filename, "",
"File with the pose graph proto from which to assess the quality."); "Proto stream file containing the pose graph used to assess quality.");
DEFINE_string(relations_filename, "", DEFINE_string(relations_filename, "",
"Relations file containing the ground truth."); "Relations file containing the ground truth.");
DEFINE_bool(read_text_file_with_unix_timestamps, false, DEFINE_bool(read_text_file_with_unix_timestamps, false,
@ -113,8 +114,8 @@ void Run(const string& pose_graph_filename, const string& relations_filename,
LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'..."; LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'...";
mapping::proto::SparsePoseGraph pose_graph; mapping::proto::SparsePoseGraph pose_graph;
{ {
std::ifstream stream(pose_graph_filename.c_str()); io::ProtoStreamReader reader(pose_graph_filename);
CHECK(pose_graph.ParseFromIstream(&stream)); CHECK(reader.ReadProto(&pose_graph));
CHECK_EQ(pose_graph.trajectory_size(), 1) CHECK_EQ(pose_graph.trajectory_size(), 1)
<< "Only pose graphs containing a single trajectory are supported."; << "Only pose graphs containing a single trajectory are supported.";
} }

8
cartographer/mapping/map_builder.cc
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@ -132,6 +132,14 @@ string MapBuilder::SubmapToProto(const mapping::SubmapId& submap_id,
return ""; return "";
} }
void MapBuilder::SerializeState(io::ProtoStreamWriter* const writer) {
// We serialize the pose graph followed by all the data referenced in it.
writer->WriteProto(sparse_pose_graph_->ToProto());
// TODO(whess): Serialize submaps.
// TODO(whess): Serialize range data ("scan") for each trajectory node.
// TODO(whess): Serialize additional sensor data: IMU, odometry.
}
int MapBuilder::num_trajectory_builders() const { int MapBuilder::num_trajectory_builders() const {
return trajectory_builders_.size(); return trajectory_builders_.size();
} }

4
cartographer/mapping/map_builder.h
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@ -27,6 +27,7 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/io/proto_stream.h"
#include "cartographer/mapping/id.h" #include "cartographer/mapping/id.h"
#include "cartographer/mapping/proto/map_builder_options.pb.h" #include "cartographer/mapping/proto/map_builder_options.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h"
@ -77,6 +78,9 @@ class MapBuilder {
string SubmapToProto(const SubmapId& submap_id, string SubmapToProto(const SubmapId& submap_id,
proto::SubmapQuery::Response* response); proto::SubmapQuery::Response* response);
// Serializes the current state to a proto stream.
void SerializeState(io::ProtoStreamWriter* writer);
int num_trajectory_builders() const; int num_trajectory_builders() const;
mapping::SparsePoseGraph* sparse_pose_graph(); mapping::SparsePoseGraph* sparse_pose_graph();