Refactor MapBuilderContext to reduce code duplication. (#1059)
Christoph Schütte
Wally B. Feed
parent
a4346337bc
commit
14465aa23e
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@ -1,188 +0,0 @@
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/cloud/internal/map_builder_context.h"
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#include "cartographer/cloud/internal/map_builder_server.h"
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#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
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#include "cartographer/mapping/internal/3d/local_slam_result_3d.h"
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namespace cartographer {
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namespace cloud {
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MapBuilderContext::MapBuilderContext(MapBuilderServer* map_builder_server)
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: map_builder_server_(map_builder_server) {}
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mapping::MapBuilderInterface& MapBuilderContext::map_builder() {
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return *map_builder_server_->map_builder_;
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}
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common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data>>&
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MapBuilderContext::sensor_data_queue() {
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return map_builder_server_->incoming_data_queue_;
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}
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mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
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MapBuilderContext::GetLocalSlamResultCallbackForSubscriptions() {
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MapBuilderServer* map_builder_server = map_builder_server_;
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return [map_builder_server](
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int trajectory_id, common::Time time,
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transform::Rigid3d local_pose, sensor::RangeData range_data,
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std::unique_ptr<
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const mapping::TrajectoryBuilderInterface::InsertionResult>
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insertion_result) {
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map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
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std::move(range_data),
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std::move(insertion_result));
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};
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}
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void MapBuilderContext::AddSensorDataToTrajectory(const Data& sensor_data) {
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sensor_data.data->AddToTrajectoryBuilder(
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map_builder_server_->map_builder_->GetTrajectoryBuilder(
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sensor_data.trajectory_id));
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}
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MapBuilderContextInterface::SubscriptionId
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MapBuilderContext::SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) {
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return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
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callback);
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}
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void MapBuilderContext::UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) {
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map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
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}
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void MapBuilderContext::NotifyFinishTrajectory(int trajectory_id) {
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map_builder_server_->NotifyFinishTrajectory(trajectory_id);
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}
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std::shared_ptr<mapping::Submap2D> MapBuilderContext::UpdateSubmap2D(
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const mapping::proto::Submap& proto) {
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CHECK(proto.has_submap_2d());
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mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
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proto.submap_id().submap_index()};
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std::shared_ptr<mapping::Submap2D> submap_2d_ptr;
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auto submap_it = unfinished_submaps_.find(submap_id);
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if (submap_it == unfinished_submaps_.end()) {
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// Seeing a submap for the first time it should never be finished.
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CHECK(!proto.submap_2d().finished());
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submap_2d_ptr = std::make_shared<mapping::Submap2D>(proto.submap_2d());
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unfinished_submaps_.Insert(submap_id, submap_2d_ptr);
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} else {
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submap_2d_ptr =
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std::dynamic_pointer_cast<mapping::Submap2D>(submap_it->data);
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CHECK(submap_2d_ptr);
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submap_2d_ptr->UpdateFromProto(proto);
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// If the submap was just finished by the recent update, remove it from the
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// list of unfinished submaps.
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if (submap_2d_ptr->finished()) {
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unfinished_submaps_.Trim(submap_id);
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} else {
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// If the submap is unfinished set the 'num_range_data' to 0 since we
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// haven't changed the HybridGrid.
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submap_2d_ptr->set_num_range_data(0);
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}
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}
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return submap_2d_ptr;
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}
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std::shared_ptr<mapping::Submap3D> MapBuilderContext::UpdateSubmap3D(
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const mapping::proto::Submap& proto) {
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CHECK(proto.has_submap_3d());
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mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
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proto.submap_id().submap_index()};
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std::shared_ptr<mapping::Submap3D> submap_3d_ptr;
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auto submap_it = unfinished_submaps_.find(submap_id);
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if (submap_it == unfinished_submaps_.end()) {
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// Seeing a submap for the first time it should never be finished.
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CHECK(!proto.submap_3d().finished());
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submap_3d_ptr = std::make_shared<mapping::Submap3D>(proto.submap_3d());
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unfinished_submaps_.Insert(submap_id, submap_3d_ptr);
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submap_it = unfinished_submaps_.find(submap_id);
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} else {
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submap_3d_ptr =
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std::dynamic_pointer_cast<mapping::Submap3D>(submap_it->data);
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CHECK(submap_3d_ptr);
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// Update submap with information in incoming request.
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submap_3d_ptr->UpdateFromProto(proto);
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// If the submap was just finished by the recent update, remove it from the
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// list of unfinished submaps.
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if (submap_3d_ptr->finished()) {
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unfinished_submaps_.Trim(submap_id);
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} else {
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// If the submap is unfinished set the 'num_range_data' to 0 since we
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// haven't changed the HybridGrid.
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submap_3d_ptr->set_num_range_data(0);
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}
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}
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return submap_3d_ptr;
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}
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std::unique_ptr<mapping::LocalSlamResultData>
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MapBuilderContext::ProcessLocalSlamResultData(
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const std::string& sensor_id, common::Time time,
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const mapping::proto::LocalSlamResultData& proto) {
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CHECK_GE(proto.submaps().size(), 1);
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CHECK(proto.submaps(0).has_submap_2d() || proto.submaps(0).has_submap_3d());
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if (proto.submaps(0).has_submap_2d()) {
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std::vector<std::shared_ptr<const mapping::Submap2D>> submaps;
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for (const auto& submap_proto : proto.submaps()) {
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submaps.push_back(UpdateSubmap2D(submap_proto));
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}
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return common::make_unique<mapping::LocalSlamResult2D>(
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sensor_id, time,
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std::make_shared<const mapping::TrajectoryNode::Data>(
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mapping::FromProto(proto.node_data())),
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submaps);
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} else {
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std::vector<std::shared_ptr<const mapping::Submap3D>> submaps;
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for (const auto& submap_proto : proto.submaps()) {
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submaps.push_back(UpdateSubmap3D(submap_proto));
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}
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return common::make_unique<mapping::LocalSlamResult3D>(
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sensor_id, time,
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std::make_shared<const mapping::TrajectoryNode::Data>(
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mapping::FromProto(proto.node_data())),
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std::move(submaps));
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}
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}
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LocalTrajectoryUploaderInterface*
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MapBuilderContext::local_trajectory_uploader() {
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return map_builder_server_->local_trajectory_uploader_.get();
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}
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void MapBuilderContext::EnqueueSensorData(int trajectory_id,
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std::unique_ptr<sensor::Data> data) {
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map_builder_server_->incoming_data_queue_.Push(
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common::make_unique<Data>(Data{trajectory_id, std::move(data)}));
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}
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void MapBuilderContext::EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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std::unique_ptr<mapping::LocalSlamResultData> local_slam_result_data) {
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map_builder_server_->incoming_data_queue_.Push(common::make_unique<Data>(
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Data{trajectory_id, std::move(local_slam_result_data)}));
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}
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} // namespace cloud
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} // namespace cartographer
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@ -1,65 +0,0 @@
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_H
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#define CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_H
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#include "cartographer/cloud/internal/map_builder_context_interface.h"
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#include "cartographer/mapping/2d/submap_2d.h"
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#include "cartographer/mapping/3d/submap_3d.h"
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namespace cartographer {
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namespace cloud {
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class MapBuilderContext : public MapBuilderContextInterface {
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public:
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MapBuilderContext(MapBuilderServer* map_builder_server);
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mapping::MapBuilderInterface& map_builder() override;
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common::BlockingQueue<std::unique_ptr<Data>>& sensor_data_queue() override;
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mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
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GetLocalSlamResultCallbackForSubscriptions() override;
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void AddSensorDataToTrajectory(const Data& sensor_data) override;
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SubscriptionId SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) override;
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void UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) override;
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void NotifyFinishTrajectory(int trajectory_id) override;
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std::unique_ptr<mapping::LocalSlamResultData> ProcessLocalSlamResultData(
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const std::string& sensor_id, common::Time time,
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const mapping::proto::LocalSlamResultData& proto) override;
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LocalTrajectoryUploaderInterface* local_trajectory_uploader() override;
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void EnqueueSensorData(int trajectory_id,
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std::unique_ptr<sensor::Data> data) override;
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void EnqueueLocalSlamResultData(int trajectory_id,
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const std::string& sensor_id,
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std::unique_ptr<mapping::LocalSlamResultData>
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local_slam_result_data) override;
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private:
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std::shared_ptr<mapping::Submap2D> UpdateSubmap2D(
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const mapping::proto::Submap& proto);
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std::shared_ptr<mapping::Submap3D> UpdateSubmap3D(
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const mapping::proto::Submap& proto);
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MapBuilderServer* map_builder_server_;
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mapping::MapById<mapping::SubmapId, std::shared_ptr<mapping::Submap>>
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unfinished_submaps_;
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};
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} // namespace cloud
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} // namespace cartographer
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#endif // CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_H
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@ -0,0 +1,63 @@
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/cloud/internal/map_builder_server.h"
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#include "cartographer/cloud/internal/map_builder_server.h"
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#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
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#include "cartographer/mapping/internal/3d/local_slam_result_3d.h"
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namespace cartographer {
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namespace cloud {
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template <>
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std::unique_ptr<mapping::LocalSlamResultData>
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MapBuilderContext<mapping::Submap2D>::ProcessLocalSlamResultData(
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const std::string& sensor_id, common::Time time,
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const mapping::proto::LocalSlamResultData& proto) {
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CHECK_GE(proto.submaps().size(), 1);
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CHECK(proto.submaps(0).has_submap_2d());
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std::vector<std::shared_ptr<const mapping::Submap2D>> submaps;
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for (const auto& submap_proto : proto.submaps()) {
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submaps.push_back(submap_controller_.UpdateSubmap(submap_proto));
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}
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return common::make_unique<mapping::LocalSlamResult2D>(
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sensor_id, time,
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std::make_shared<const mapping::TrajectoryNode::Data>(
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mapping::FromProto(proto.node_data())),
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submaps);
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}
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template <>
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std::unique_ptr<mapping::LocalSlamResultData>
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MapBuilderContext<mapping::Submap3D>::ProcessLocalSlamResultData(
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const std::string& sensor_id, common::Time time,
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const mapping::proto::LocalSlamResultData& proto) {
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CHECK_GE(proto.submaps().size(), 1);
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CHECK(proto.submaps(0).has_submap_3d());
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std::vector<std::shared_ptr<const mapping::Submap3D>> submaps;
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for (const auto& submap_proto : proto.submaps()) {
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submaps.push_back(submap_controller_.UpdateSubmap(submap_proto));
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}
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return common::make_unique<mapping::LocalSlamResult3D>(
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sensor_id, time,
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std::make_shared<const mapping::TrajectoryNode::Data>(
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mapping::FromProto(proto.node_data())),
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submaps);
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}
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} // namespace cloud
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} // namespace cartographer
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@ -0,0 +1,117 @@
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_IMPL_H
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#define CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_IMPL_H
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namespace cartographer {
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namespace cloud {
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template <class SubmapType>
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MapBuilderContext<SubmapType>::MapBuilderContext(
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MapBuilderServer* map_builder_server)
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: map_builder_server_(map_builder_server) {}
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template <class SubmapType>
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mapping::MapBuilderInterface& MapBuilderContext<SubmapType>::map_builder() {
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return *map_builder_server_->map_builder_;
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}
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template <class SubmapType>
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common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data>>&
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MapBuilderContext<SubmapType>::sensor_data_queue() {
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return map_builder_server_->incoming_data_queue_;
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}
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template <class SubmapType>
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mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
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MapBuilderContext<SubmapType>::GetLocalSlamResultCallbackForSubscriptions() {
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MapBuilderServer* map_builder_server = map_builder_server_;
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return [map_builder_server](
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int trajectory_id, common::Time time,
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transform::Rigid3d local_pose, sensor::RangeData range_data,
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std::unique_ptr<
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const mapping::TrajectoryBuilderInterface::InsertionResult>
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insertion_result) {
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map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
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std::move(range_data),
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std::move(insertion_result));
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};
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::AddSensorDataToTrajectory(
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const Data& sensor_data) {
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sensor_data.data->AddToTrajectoryBuilder(
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map_builder_server_->map_builder_->GetTrajectoryBuilder(
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sensor_data.trajectory_id));
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}
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template <class SubmapType>
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MapBuilderContextInterface::SubscriptionId
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MapBuilderContext<SubmapType>::SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) {
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return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
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callback);
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) {
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map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::NotifyFinishTrajectory(int trajectory_id) {
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map_builder_server_->NotifyFinishTrajectory(trajectory_id);
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}
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template <class SubmapType>
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LocalTrajectoryUploaderInterface*
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MapBuilderContext<SubmapType>::local_trajectory_uploader() {
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return map_builder_server_->local_trajectory_uploader_.get();
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::EnqueueSensorData(
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int trajectory_id, std::unique_ptr<sensor::Data> data) {
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map_builder_server_->incoming_data_queue_.Push(
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common::make_unique<Data>(Data{trajectory_id, std::move(data)}));
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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std::unique_ptr<mapping::LocalSlamResultData> local_slam_result_data) {
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map_builder_server_->incoming_data_queue_.Push(common::make_unique<Data>(
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Data{trajectory_id, std::move(local_slam_result_data)}));
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}
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template <>
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std::unique_ptr<mapping::LocalSlamResultData>
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MapBuilderContext<mapping::Submap2D>::ProcessLocalSlamResultData(
|
||||
const std::string& sensor_id, common::Time time,
|
||||
const mapping::proto::LocalSlamResultData& proto);
|
||||
template <>
|
||||
std::unique_ptr<mapping::LocalSlamResultData>
|
||||
MapBuilderContext<mapping::Submap3D>::ProcessLocalSlamResultData(
|
||||
const std::string& sensor_id, common::Time time,
|
||||
const mapping::proto::LocalSlamResultData& proto);
|
||||
|
||||
} // namespace cloud
|
||||
} // namespace cartographer
|
||||
|
||||
#endif // CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_IMPL_H
|
||||
|
|
@ -82,8 +82,18 @@ MapBuilderServer::MapBuilderServer(
|
|||
server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler>();
|
||||
server_builder.RegisterHandler<handlers::WriteStateHandler>();
|
||||
grpc_server_ = server_builder.Build();
|
||||
grpc_server_->SetExecutionContext(
|
||||
common::make_unique<MapBuilderContext>(this));
|
||||
if (map_builder_server_options.map_builder_options()
|
||||
.use_trajectory_builder_2d()) {
|
||||
grpc_server_->SetExecutionContext(
|
||||
common::make_unique<MapBuilderContext<mapping::Submap2D>>(this));
|
||||
} else if (map_builder_server_options.map_builder_options()
|
||||
.use_trajectory_builder_3d()) {
|
||||
grpc_server_->SetExecutionContext(
|
||||
common::make_unique<MapBuilderContext<mapping::Submap3D>>(this));
|
||||
} else {
|
||||
LOG(FATAL)
|
||||
<< "Set either use_trajectory_builder_2d or use_trajectory_builder_3d";
|
||||
}
|
||||
}
|
||||
|
||||
void MapBuilderServer::Start() {
|
||||
|
|
@ -119,8 +129,8 @@ void MapBuilderServer::ProcessSensorDataQueue() {
|
|||
std::unique_ptr<MapBuilderContextInterface::Data> sensor_data =
|
||||
incoming_data_queue_.PopWithTimeout(kPopTimeout);
|
||||
if (sensor_data) {
|
||||
grpc_server_->GetContext<MapBuilderContext>()->AddSensorDataToTrajectory(
|
||||
*sensor_data);
|
||||
grpc_server_->GetContext<MapBuilderContextInterface>()
|
||||
->AddSensorDataToTrajectory(*sensor_data);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -144,13 +154,14 @@ void MapBuilderServer::OnLocalSlamResult(
|
|||
// If there is an uplink server and a submap insertion happened, enqueue this
|
||||
// local SLAM result for uploading.
|
||||
if (insertion_result &&
|
||||
grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
|
||||
grpc_server_->GetUnsynchronizedContext<MapBuilderContextInterface>()
|
||||
->local_trajectory_uploader()) {
|
||||
auto data_request =
|
||||
common::make_unique<proto::AddLocalSlamResultDataRequest>();
|
||||
auto sensor_id = grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
|
||||
->local_trajectory_uploader()
|
||||
->GetLocalSlamResultSensorId(trajectory_id);
|
||||
auto sensor_id =
|
||||
grpc_server_->GetUnsynchronizedContext<MapBuilderContextInterface>()
|
||||
->local_trajectory_uploader()
|
||||
->GetLocalSlamResultSensorId(trajectory_id);
|
||||
CreateAddLocalSlamResultDataRequest(sensor_id.id, trajectory_id, time,
|
||||
starting_submap_index_,
|
||||
*insertion_result, data_request.get());
|
||||
|
|
@ -158,7 +169,7 @@ void MapBuilderServer::OnLocalSlamResult(
|
|||
if (insertion_result->insertion_submaps.front()->finished()) {
|
||||
++starting_submap_index_;
|
||||
}
|
||||
grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
|
||||
grpc_server_->GetUnsynchronizedContext<MapBuilderContextInterface>()
|
||||
->local_trajectory_uploader()
|
||||
->EnqueueDataRequest(std::move(data_request));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -20,11 +20,14 @@
|
|||
#include "async_grpc/execution_context.h"
|
||||
#include "async_grpc/server.h"
|
||||
#include "cartographer/cloud/internal/local_trajectory_uploader.h"
|
||||
#include "cartographer/cloud/internal/map_builder_context.h"
|
||||
#include "cartographer/cloud/internal/map_builder_context_interface.h"
|
||||
#include "cartographer/cloud/internal/submap_controller.h"
|
||||
#include "cartographer/cloud/map_builder_server_interface.h"
|
||||
#include "cartographer/cloud/proto/map_builder_server_options.pb.h"
|
||||
#include "cartographer/common/blocking_queue.h"
|
||||
#include "cartographer/common/time.h"
|
||||
#include "cartographer/mapping/2d/submap_2d.h"
|
||||
#include "cartographer/mapping/3d/submap_3d.h"
|
||||
#include "cartographer/mapping/local_slam_result_data.h"
|
||||
#include "cartographer/mapping/map_builder.h"
|
||||
#include "cartographer/mapping/trajectory_builder_interface.h"
|
||||
|
|
@ -33,9 +36,44 @@
|
|||
namespace cartographer {
|
||||
namespace cloud {
|
||||
|
||||
class MapBuilderServer;
|
||||
|
||||
template <class SubmapType>
|
||||
class MapBuilderContext : public MapBuilderContextInterface {
|
||||
public:
|
||||
MapBuilderContext(MapBuilderServer* map_builder_server);
|
||||
mapping::MapBuilderInterface& map_builder() override;
|
||||
common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data>>&
|
||||
sensor_data_queue() override;
|
||||
mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
|
||||
GetLocalSlamResultCallbackForSubscriptions() override;
|
||||
void AddSensorDataToTrajectory(const Data& sensor_data) override;
|
||||
MapBuilderContextInterface::SubscriptionId SubscribeLocalSlamResults(
|
||||
int trajectory_id, LocalSlamSubscriptionCallback callback) override;
|
||||
void UnsubscribeLocalSlamResults(
|
||||
const SubscriptionId& subscription_id) override;
|
||||
void NotifyFinishTrajectory(int trajectory_id) override;
|
||||
std::unique_ptr<mapping::LocalSlamResultData> ProcessLocalSlamResultData(
|
||||
const std::string& sensor_id, common::Time time,
|
||||
const mapping::proto::LocalSlamResultData& proto) override;
|
||||
LocalTrajectoryUploaderInterface* local_trajectory_uploader() override;
|
||||
|
||||
void EnqueueSensorData(int trajectory_id,
|
||||
std::unique_ptr<sensor::Data> data) override;
|
||||
void EnqueueLocalSlamResultData(int trajectory_id,
|
||||
const std::string& sensor_id,
|
||||
std::unique_ptr<mapping::LocalSlamResultData>
|
||||
local_slam_result_data) override;
|
||||
|
||||
private:
|
||||
MapBuilderServer* map_builder_server_;
|
||||
SubmapController<SubmapType> submap_controller_;
|
||||
};
|
||||
|
||||
class MapBuilderServer : public MapBuilderServerInterface {
|
||||
public:
|
||||
friend MapBuilderContext;
|
||||
friend MapBuilderContext<mapping::Submap2D>;
|
||||
friend MapBuilderContext<mapping::Submap3D>;
|
||||
|
||||
MapBuilderServer(
|
||||
const proto::MapBuilderServerOptions& map_builder_server_options,
|
||||
|
|
@ -94,4 +132,6 @@ class MapBuilderServer : public MapBuilderServerInterface {
|
|||
} // namespace cloud
|
||||
} // namespace cartographer
|
||||
|
||||
#include "cartographer/cloud/internal/map_builder_context_impl.h"
|
||||
|
||||
#endif // CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H
|
||||
|
|
|
|||
|
|
@ -0,0 +1,37 @@
|
|||
/*
|
||||
* 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/cloud/internal/submap_controller.h"
|
||||
|
||||
namespace cartographer {
|
||||
namespace cloud {
|
||||
|
||||
template <>
|
||||
std::shared_ptr<mapping::Submap2D>
|
||||
SubmapController<mapping::Submap2D>::CreateSubmap(
|
||||
const mapping::proto::Submap& proto) {
|
||||
return std::make_shared<mapping::Submap2D>(proto.submap_2d());
|
||||
}
|
||||
|
||||
template <>
|
||||
std::shared_ptr<mapping::Submap3D>
|
||||
SubmapController<mapping::Submap3D>::CreateSubmap(
|
||||
const mapping::proto::Submap& proto) {
|
||||
return std::make_shared<mapping::Submap3D>(proto.submap_3d());
|
||||
}
|
||||
|
||||
} // namespace cloud
|
||||
} // namespace cartographer
|
||||
|
|
@ -0,0 +1,77 @@
|
|||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#ifndef CARTOGRAPHER_CLOUD_INTERNAL_SUBMAP_CONTROLLER_H
|
||||
#define CARTOGRAPHER_CLOUD_INTERNAL_SUBMAP_CONTROLLER_H
|
||||
|
||||
#include "cartographer/mapping/2d/submap_2d.h"
|
||||
#include "cartographer/mapping/3d/submap_3d.h"
|
||||
#include "cartographer/mapping/id.h"
|
||||
#include "cartographer/mapping/proto/serialization.pb.h"
|
||||
|
||||
namespace cartographer {
|
||||
namespace cloud {
|
||||
|
||||
template <class SubmapType>
|
||||
class SubmapController {
|
||||
public:
|
||||
std::shared_ptr<SubmapType> UpdateSubmap(
|
||||
const mapping::proto::Submap& proto) {
|
||||
mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
|
||||
proto.submap_id().submap_index()};
|
||||
std::shared_ptr<SubmapType> submap_ptr;
|
||||
auto submap_it = unfinished_submaps_.find(submap_id);
|
||||
if (submap_it == unfinished_submaps_.end()) {
|
||||
submap_ptr = CreateSubmap(proto);
|
||||
unfinished_submaps_.Insert(submap_id, submap_ptr);
|
||||
return submap_ptr;
|
||||
}
|
||||
submap_ptr = submap_it->data;
|
||||
CHECK(submap_ptr);
|
||||
submap_ptr->UpdateFromProto(proto);
|
||||
|
||||
// If the submap was just finished by the recent update, remove it from
|
||||
// the list of unfinished submaps.
|
||||
if (submap_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_ptr->set_num_range_data(0);
|
||||
}
|
||||
return submap_ptr;
|
||||
}
|
||||
|
||||
private:
|
||||
std::shared_ptr<SubmapType> CreateSubmap(const mapping::proto::Submap& proto);
|
||||
|
||||
mapping::MapById<mapping::SubmapId, std::shared_ptr<SubmapType>>
|
||||
unfinished_submaps_;
|
||||
};
|
||||
|
||||
template <>
|
||||
std::shared_ptr<mapping::Submap2D>
|
||||
SubmapController<mapping::Submap2D>::CreateSubmap(
|
||||
const mapping::proto::Submap& proto);
|
||||
template <>
|
||||
std::shared_ptr<mapping::Submap3D>
|
||||
SubmapController<mapping::Submap3D>::CreateSubmap(
|
||||
const mapping::proto::Submap& proto);
|
||||
|
||||
} // namespace cloud
|
||||
} // namespace cartographer
|
||||
|
||||
#endif // CARTOGRAPHER_CLOUD_INTERNAL_SUBMAP_CONTROLLER_H
|
||||
Loading…
Reference in New Issue