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Enable loading unfrozen state (#891) 

Enable loading unfrozen state
master
Juraj Oršulić 2018-02-27 20:38:57 +01:00 committed by Christoph Schütte
parent 29875117b3
commit 32b8bd3581
16 changed files with 128 additions and 85 deletions
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4
cartographer/io/in_memory_proto_stream.cc
View File

@ -30,8 +30,8 @@ bool ForwardingProtoStreamWriter::Close() { return writer_callback_(nullptr); }
bool InMemoryProtoStreamReader::ReadProto(google::protobuf::Message* proto) {
if (eof()) return false;
proto->CopyFrom(*map_chunks_.front());
map_chunks_.pop();
proto->CopyFrom(*state_chunks_.front());
state_chunks_.pop();
return true;
}

10
cartographer/io/in_memory_proto_stream.h
View File

@ -51,8 +51,8 @@ class InMemoryProtoStreamReader
: public cartographer::io::ProtoStreamReaderInterface {
public:
explicit InMemoryProtoStreamReader(
std::queue<std::unique_ptr<google::protobuf::Message>>&& map_chunks)
: map_chunks_(std::move(map_chunks)){};
std::queue<std::unique_ptr<google::protobuf::Message>>&& state_chunks)
: state_chunks_(std::move(state_chunks)){};
InMemoryProtoStreamReader() = default;
~InMemoryProtoStreamReader() = default;
@ -62,14 +62,14 @@ class InMemoryProtoStreamReader
template <typename MessageType>
void AddProto(const MessageType& proto) {
map_chunks_.push(common::make_unique<MessageType>(proto));
state_chunks_.push(common::make_unique<MessageType>(proto));
}
bool ReadProto(google::protobuf::Message* proto) override;
bool eof() const override { return map_chunks_.empty(); }
bool eof() const override { return state_chunks_.empty(); }
private:
std::queue<std::unique_ptr<google::protobuf::Message>> map_chunks_;
std::queue<std::unique_ptr<google::protobuf::Message>> state_chunks_;
};
} // namespace io

2
cartographer/mapping/2d/pose_graph_2d.cc
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@ -439,7 +439,6 @@ void PoseGraph2D::AddSubmapFromProto(
submap_id,
pose_graph::OptimizationProblem2D::SubmapData{global_submap_pose_2d});
AddWorkItem([this, submap_id, global_submap_pose_2d]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
submap_data_.at(submap_id).state = SubmapState::kFinished;
optimization_problem_.InsertSubmap(submap_id, global_submap_pose_2d);
});
@ -457,7 +456,6 @@ void PoseGraph2D::AddNodeFromProto(const transform::Rigid3d& global_pose,
trajectory_nodes_.Insert(node_id, TrajectoryNode{constant_data, global_pose});
AddWorkItem([this, node_id, global_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(node_id.trajectory_id), 1);
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
const auto gravity_alignment_inverse = transform::Rigid3d::Rotation(
constant_data->gravity_alignment.inverse());

2
cartographer/mapping/3d/pose_graph_3d.cc
View File

@ -455,7 +455,6 @@ void PoseGraph3D::AddSubmapFromProto(
submap_id,
pose_graph::OptimizationProblem3D::SubmapData{global_submap_pose});
AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
submap_data_.at(submap_id).state = SubmapState::kFinished;
optimization_problem_.InsertSubmap(submap_id, global_submap_pose);
});
@ -473,7 +472,6 @@ void PoseGraph3D::AddNodeFromProto(const transform::Rigid3d& global_pose,
trajectory_nodes_.Insert(node_id, TrajectoryNode{constant_data, global_pose});
AddWorkItem([this, node_id, global_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(node_id.trajectory_id), 1);
const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
optimization_problem_.InsertTrajectoryNode(
node_id, constant_data->time, constant_data->local_pose, global_pose);

57
cartographer/mapping/map_builder.cc
View File

@ -276,9 +276,11 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
writer->WriteProto(proto);
}
}
// TODO(pifon2a, ojura): serialize landmarks
}
void MapBuilder::LoadMap(io::ProtoStreamReaderInterface* const reader) {
void MapBuilder::LoadState(io::ProtoStreamReaderInterface* const reader,
bool load_frozen_state) {
proto::PoseGraph pose_graph_proto;
CHECK(reader->ReadProto(&pose_graph_proto));
proto::AllTrajectoryBuilderOptions all_builder_options_proto;
@ -298,8 +300,18 @@ void MapBuilder::LoadMap(io::ProtoStreamReaderInterface* const reader) {
.second)
<< "Duplicate trajectory ID: " << trajectory_proto.trajectory_id();
trajectory_proto.set_trajectory_id(new_trajectory_id);
if (load_frozen_state) {
pose_graph_->FreezeTrajectory(new_trajectory_id);
}
}
// Apply the calculated remapping to constraints in the pose graph proto.
for (auto& constraint_proto : *pose_graph_proto.mutable_constraint()) {
constraint_proto.mutable_submap_id()->set_trajectory_id(
trajectory_remapping.at(constraint_proto.submap_id().trajectory_id()));
constraint_proto.mutable_node_id()->set_trajectory_id(
trajectory_remapping.at(constraint_proto.node_id().trajectory_id()));
}
MapById<SubmapId, transform::Rigid3d> submap_poses;
for (const proto::Trajectory& trajectory_proto :
@ -348,24 +360,49 @@ void MapBuilder::LoadMap(io::ProtoStreamReaderInterface* const reader) {
trajectory_remapping.at(proto.trajectory_data().trajectory_id()));
pose_graph_->SetTrajectoryDataFromProto(proto.trajectory_data());
}
// TODO(ojura): Deserialize IMU, odometry and fixed frame pose data when
// loading unfrozen trajectories.
if (!load_frozen_state) {
if (proto.has_imu_data()) {
pose_graph_->AddImuData(
trajectory_remapping.at(proto.imu_data().trajectory_id()),
sensor::FromProto(proto.imu_data().imu_data()));
}
if (proto.has_odometry_data()) {
pose_graph_->AddOdometryData(
trajectory_remapping.at(proto.odometry_data().trajectory_id()),
sensor::FromProto(proto.odometry_data().odometry_data()));
}
if (proto.has_fixed_frame_pose_data()) {
pose_graph_->AddFixedFramePoseData(
trajectory_remapping.at(
proto.fixed_frame_pose_data().trajectory_id()),
sensor::FromProto(
proto.fixed_frame_pose_data().fixed_frame_pose_data()));
}
// TODO(pifon2a, ojura): deserialize landmarks
}
}
if (load_frozen_state) {
// Add information about which nodes belong to which submap.
// Required for 3D pure localization.
for (const proto::PoseGraph::Constraint& constraint_proto :
pose_graph_proto.constraint()) {
if (constraint_proto.tag() !=
mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP) {
continue;
}
const NodeId node_id{
trajectory_remapping.at(constraint_proto.node_id().trajectory_id()),
constraint_proto.node_id().node_index()};
const SubmapId submap_id{
trajectory_remapping.at(constraint_proto.submap_id().trajectory_id()),
constraint_proto.submap_id().submap_index()};
pose_graph_->AddNodeToSubmap(node_id, submap_id);
pose_graph_->AddNodeToSubmap(
NodeId{constraint_proto.node_id().trajectory_id(),
constraint_proto.node_id().node_index()},
SubmapId{constraint_proto.submap_id().trajectory_id(),
constraint_proto.submap_id().submap_index()});
}
} else {
// When loading unfrozen trajectories, 'AddSerializedConstraints' will
// take care of adding information about which nodes belong to which
// submap.
pose_graph_->AddSerializedConstraints(
FromProto(pose_graph_proto.constraint()));
}
CHECK(reader->eof());
}

3
cartographer/mapping/map_builder.h
View File

@ -63,7 +63,8 @@ class MapBuilder : public MapBuilderInterface {
void SerializeState(io::ProtoStreamWriterInterface* writer) override;
void LoadMap(io::ProtoStreamReaderInterface* reader) override;
void LoadState(io::ProtoStreamReaderInterface* reader,
bool load_frozen_state) override;
int num_trajectory_builders() const override;

5
cartographer/mapping/map_builder_interface.h
View File

@ -80,8 +80,9 @@ class MapBuilderInterface {
// Serializes the current state to a proto stream.
virtual void SerializeState(io::ProtoStreamWriterInterface* writer) = 0;
// Loads submaps from a proto stream into a new frozen trajectory.
virtual void LoadMap(io::ProtoStreamReaderInterface* reader) = 0;
// Loads the SLAM state from a proto stream.
virtual void LoadState(io::ProtoStreamReaderInterface* reader,
bool load_frozen_state) = 0;
virtual int num_trajectory_builders() const = 0;

19
cartographer_grpc/handlers/load_map_handler.cc → cartographer_grpc/handlers/load_state_handler.cc
View File

@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/load_state_handler.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h"
@ -26,24 +26,25 @@
namespace cartographer_grpc {
namespace handlers {
void LoadMapHandler::OnRequest(const proto::LoadMapRequest& request) {
switch (request.map_chunk_case()) {
case proto::LoadMapRequest::kPoseGraph:
void LoadStateHandler::OnRequest(const proto::LoadStateRequest& request) {
switch (request.state_chunk_case()) {
case proto::LoadStateRequest::kPoseGraph:
reader_.AddProto(request.pose_graph());
break;
case proto::LoadMapRequest::kAllTrajectoryBuilderOptions:
case proto::LoadStateRequest::kAllTrajectoryBuilderOptions:
reader_.AddProto(request.all_trajectory_builder_options());
break;
case proto::LoadMapRequest::kSerializedData:
case proto::LoadStateRequest::kSerializedData:
reader_.AddProto(request.serialized_data());
break;
default:
LOG(FATAL) << "Unhandled proto::LoadMapRequest case.";
LOG(FATAL) << "Unhandled proto::LoadStateRequest case.";
}
}
void LoadMapHandler::OnReadsDone() {
GetContext<MapBuilderContextInterface>()->map_builder().LoadMap(&reader_);
void LoadStateHandler::OnReadsDone() {
GetContext<MapBuilderContextInterface>()->map_builder().LoadState(&reader_,
true);
Send(cartographer::common::make_unique<google::protobuf::Empty>());
}

14
cartographer_grpc/handlers/load_map_handler.h → cartographer_grpc/handlers/load_state_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
#ifndef CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
#include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h"
@ -25,14 +25,14 @@
namespace cartographer_grpc {
namespace handlers {
class LoadMapHandler
: public framework::RpcHandler<framework::Stream<proto::LoadMapRequest>,
class LoadStateHandler
: public framework::RpcHandler<framework::Stream<proto::LoadStateRequest>,
google::protobuf::Empty> {
public:
std::string method_name() const override {
return "/cartographer_grpc.proto.MapBuilderService/LoadMap";
return "/cartographer_grpc.proto.MapBuilderService/LoadState";
}
void OnRequest(const proto::LoadMapRequest& request) override;
void OnRequest(const proto::LoadStateRequest& request) override;
void OnReadsDone() override;
private:
@ -42,4 +42,4 @@ class LoadMapHandler
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
#endif // CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H

6
cartographer_grpc/handlers/write_map_handler.cc → cartographer_grpc/handlers/write_state_handler.cc
View File

@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/handlers/write_state_handler.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h"
@ -26,7 +26,7 @@
namespace cartographer_grpc {
namespace handlers {
void WriteMapHandler::OnRequest(const google::protobuf::Empty& request) {
void WriteStateHandler::OnRequest(const google::protobuf::Empty& request) {
auto writer = GetWriter();
cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
[writer](const google::protobuf::Message* proto) {
@ -36,7 +36,7 @@ void WriteMapHandler::OnRequest(const google::protobuf::Empty& request) {
}
auto response =
cartographer::common::make_unique<proto::WriteMapResponse>();
cartographer::common::make_unique<proto::WriteStateResponse>();
if (proto->GetTypeName() == "cartographer.mapping.proto.PoseGraph") {
response->mutable_pose_graph()->CopyFrom(*proto);
} else if (proto->GetTypeName() ==

14
cartographer_grpc/handlers/write_map_handler.h → cartographer_grpc/handlers/write_state_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
#ifndef CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
@ -24,12 +24,12 @@
namespace cartographer_grpc {
namespace handlers {
class WriteMapHandler
: public framework::RpcHandler<google::protobuf::Empty,
framework::Stream<proto::WriteMapResponse>> {
class WriteStateHandler : public framework::RpcHandler<
google::protobuf::Empty,
framework::Stream<proto::WriteStateResponse>> {
public:
std::string method_name() const override {
return "/cartographer_grpc.proto.MapBuilderService/WriteMap";
return "/cartographer_grpc.proto.MapBuilderService/WriteState";
}
void OnRequest(const google::protobuf::Empty& request) override;
};
@ -37,4 +37,4 @@ class WriteMapHandler
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
#endif // CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H

8
cartographer_grpc/map_builder_server.cc
View File

@ -30,10 +30,10 @@
#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/load_state_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/handlers/write_state_handler.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
@ -75,9 +75,9 @@ MapBuilderServer::MapBuilderServer(
server_builder.RegisterHandler<handlers::GetAllSubmapPosesHandler>();
server_builder.RegisterHandler<handlers::GetLocalToGlobalTransformHandler>();
server_builder.RegisterHandler<handlers::GetConstraintsHandler>();
server_builder.RegisterHandler<handlers::LoadMapHandler>();
server_builder.RegisterHandler<handlers::LoadStateHandler>();
server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler>();
server_builder.RegisterHandler<handlers::WriteMapHandler>();
server_builder.RegisterHandler<handlers::WriteStateHandler>();
grpc_server_ = server_builder.Build();
grpc_server_->SetExecutionContext(
cartographer::common::make_unique<MapBuilderContext>(this));

32
cartographer_grpc/mapping/map_builder_stub.cc
View File

@ -18,8 +18,8 @@
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/handlers/load_state_handler.h"
#include "cartographer_grpc/handlers/write_state_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
@ -93,19 +93,19 @@ std::string MapBuilderStub::SubmapToProto(
void MapBuilderStub::SerializeState(
cartographer::io::ProtoStreamWriterInterface* writer) {
google::protobuf::Empty request;
framework::Client<handlers::WriteMapHandler> client(client_channel_);
framework::Client<handlers::WriteStateHandler> client(client_channel_);
CHECK(client.Write(request));
proto::WriteMapResponse response;
proto::WriteStateResponse response;
while (client.Read(&response)) {
// writer->WriteProto(response);
switch (response.map_chunk_case()) {
case proto::WriteMapResponse::kPoseGraph:
switch (response.state_chunk_case()) {
case proto::WriteStateResponse::kPoseGraph:
writer->WriteProto(response.pose_graph());
break;
case proto::WriteMapResponse::kAllTrajectoryBuilderOptions:
case proto::WriteStateResponse::kAllTrajectoryBuilderOptions:
writer->WriteProto(response.all_trajectory_builder_options());
break;
case proto::WriteMapResponse::kSerializedData:
case proto::WriteStateResponse::kSerializedData:
writer->WriteProto(response.serialized_data());
break;
default:
@ -115,23 +115,27 @@ void MapBuilderStub::SerializeState(
CHECK(writer->Close());
}
void MapBuilderStub::LoadMap(
cartographer::io::ProtoStreamReaderInterface* reader) {
framework::Client<handlers::LoadMapHandler> client(client_channel_);
void MapBuilderStub::LoadState(
cartographer::io::ProtoStreamReaderInterface* reader,
const bool load_frozen_state) {
if (!load_frozen_state) {
LOG(FATAL) << "Not implemented";
}
framework::Client<handlers::LoadStateHandler> client(client_channel_);
// Request with a PoseGraph proto is sent first.
{
proto::LoadMapRequest request;
proto::LoadStateRequest request;
CHECK(reader->ReadProto(request.mutable_pose_graph()));
CHECK(client.Write(request));
}
// Request with an AllTrajectoryBuilderOptions should be second.
{
proto::LoadMapRequest request;
proto::LoadStateRequest request;
CHECK(reader->ReadProto(request.mutable_all_trajectory_builder_options()));
CHECK(client.Write(request));
}
// Multiple requests with SerializedData are sent after.
proto::LoadMapRequest request;
proto::LoadStateRequest request;
while (reader->ReadProto(request.mutable_serialized_data())) {
CHECK(client.Write(request));
}

3
cartographer_grpc/mapping/map_builder_stub.h
View File

@ -50,7 +50,8 @@ class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
cartographer::mapping::proto::SubmapQuery::Response* response) override;
void SerializeState(
cartographer::io::ProtoStreamWriterInterface* writer) override;
void LoadMap(cartographer::io::ProtoStreamReaderInterface* reader) override;
void LoadState(cartographer::io::ProtoStreamReaderInterface* reader,
bool load_frozen_state) override;
int num_trajectory_builders() const override;
cartographer::mapping::PoseGraphInterface* pose_graph() override;
const std::vector<

17
cartographer_grpc/proto/map_builder_service.proto
View File

@ -102,8 +102,8 @@ message GetSubmapRequest {
cartographer.mapping.proto.SubmapId submap_id = 1;
}
message LoadMapRequest {
oneof map_chunk {
message LoadStateRequest {
oneof state_chunk {
cartographer.mapping.proto.PoseGraph pose_graph = 1;
cartographer.mapping.proto.AllTrajectoryBuilderOptions
all_trajectory_builder_options = 2;
@ -162,8 +162,8 @@ message AddLocalSlamResultDataRequest {
cartographer.mapping.proto.LocalSlamResultData local_slam_result_data = 2;
}
message WriteMapResponse {
oneof map_chunk {
message WriteStateResponse {
oneof state_chunk {
cartographer.mapping.proto.PoseGraph pose_graph = 1;
cartographer.mapping.proto.AllTrajectoryBuilderOptions
all_trajectory_builder_options = 2;
@ -234,9 +234,10 @@ service MapBuilderService {
rpc RunFinalOptimization(google.protobuf.Empty)
returns (google.protobuf.Empty);
// Adds map data in the order defined by ProtoStreamReader.
rpc LoadMap(stream LoadMapRequest) returns (google.protobuf.Empty);
// Adds serialized SLAM state data in the order defined by ProtoStreamReader.
rpc LoadState(stream LoadStateRequest) returns (google.protobuf.Empty);
// Receives map data in the order defined by ProtoStreamWriter.
rpc WriteMap(google.protobuf.Empty) returns (stream WriteMapResponse);
// Receives serialized SLAM state data in the order defined by
// ProtoStreamWriter.
rpc WriteState(google.protobuf.Empty) returns (stream WriteStateResponse);
}

3
cartographer_grpc/testing/mock_map_builder.h
View File

@ -51,7 +51,8 @@ class MockMapBuilder : public cartographer::mapping::MapBuilderInterface {
cartographer::mapping::proto::SubmapQuery::Response *));
MOCK_METHOD1(SerializeState,
void(cartographer::io::ProtoStreamWriterInterface *));
MOCK_METHOD1(LoadMap, void(cartographer::io::ProtoStreamReaderInterface *));
MOCK_METHOD2(LoadState,
void(cartographer::io::ProtoStreamReaderInterface *, bool));
MOCK_CONST_METHOD0(num_trajectory_builders, int());
MOCK_METHOD0(pose_graph, cartographer::mapping::PoseGraphInterface *());
MOCK_CONST_METHOD0(