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Defining new serialization proto (#1165) 

[Serialization RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0021-serialization-format.md)
master
Sebastian Klose 2018-05-28 15:11:29 +02:00 committed by Alexander Belyaev
parent ce18ec7295
commit 405c0e17e8
3 changed files with 59 additions and 18 deletions
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17
cartographer/mapping/map_builder.cc
View File

@ -25,6 +25,7 @@
#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
#include "cartographer/mapping/internal/collated_trajectory_builder.h"
#include "cartographer/mapping/internal/global_trajectory_builder.h"
#include "cartographer/mapping/proto/internal/legacy_serialized_data.pb.h"
#include "cartographer/sensor/internal/collator.h"
#include "cartographer/sensor/internal/trajectory_collator.h"
#include "cartographer/sensor/internal/voxel_filter.h"
@ -212,7 +213,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
// Next we serialize all submap data.
{
for (const auto& submap_id_data : pose_graph_->GetAllSubmapData()) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* const submap_proto = proto.mutable_submap();
submap_proto->mutable_submap_id()->set_trajectory_id(
submap_id_data.id.trajectory_id);
@ -226,7 +227,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
// Next we serialize all node data.
{
for (const auto& node_id_data : pose_graph_->GetTrajectoryNodes()) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* const node_proto = proto.mutable_node();
node_proto->mutable_node_id()->set_trajectory_id(
node_id_data.id.trajectory_id);
@ -241,7 +242,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
const auto all_imu_data = pose_graph_->GetImuData();
for (const int trajectory_id : all_imu_data.trajectory_ids()) {
for (const auto& imu_data : all_imu_data.trajectory(trajectory_id)) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* const imu_data_proto = proto.mutable_imu_data();
imu_data_proto->set_trajectory_id(trajectory_id);
*imu_data_proto->mutable_imu_data() = sensor::ToProto(imu_data);
@ -255,7 +256,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
for (const int trajectory_id : all_odometry_data.trajectory_ids()) {
for (const auto& odometry_data :
all_odometry_data.trajectory(trajectory_id)) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* const odometry_data_proto = proto.mutable_odometry_data();
odometry_data_proto->set_trajectory_id(trajectory_id);
*odometry_data_proto->mutable_odometry_data() =
@ -270,7 +271,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
for (const int trajectory_id : all_fixed_frame_pose_data.trajectory_ids()) {
for (const auto& fixed_frame_pose_data :
all_fixed_frame_pose_data.trajectory(trajectory_id)) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* const fixed_frame_pose_data_proto =
proto.mutable_fixed_frame_pose_data();
fixed_frame_pose_data_proto->set_trajectory_id(trajectory_id);
@ -284,7 +285,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
{
const auto all_trajectory_data = pose_graph_->GetTrajectoryData();
for (const auto& trajectory_data : all_trajectory_data) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* const trajectory_data_proto = proto.mutable_trajectory_data();
trajectory_data_proto->set_trajectory_id(trajectory_data.first);
trajectory_data_proto->set_gravity_constant(
@ -308,7 +309,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
all_landmark_nodes = pose_graph_->GetLandmarkNodes();
for (const auto& node : all_landmark_nodes) {
for (const auto& observation : node.second.landmark_observations) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
auto* landmark_data_proto = proto.mutable_landmark_data();
landmark_data_proto->set_trajectory_id(observation.trajectory_id);
landmark_data_proto->mutable_landmark_data()->set_timestamp(
@ -389,7 +390,7 @@ void MapBuilder::LoadState(io::ProtoStreamReaderInterface* const reader,
}
for (;;) {
proto::SerializedData proto;
proto::LegacySerializedData proto;
if (!reader->ReadProto(&proto)) {
break;
}

29
cartographer/mapping/proto/internal/legacy_serialized_data.proto Normal file
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@ -0,0 +1,29 @@
// 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.
syntax = "proto3";
package cartographer.mapping.proto;
import "cartographer/mapping/proto/serialization.proto";
message LegacySerializedData {
Submap submap = 1;
Node node = 2;
ImuData imu_data = 3;
OdometryData odometry_data = 4;
FixedFramePoseData fixed_frame_pose_data = 5;
TrajectoryData trajectory_data = 6;
LandmarkData landmark_data = 7;
}

31
cartographer/mapping/proto/serialization.proto
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@ -20,6 +20,7 @@ import "cartographer/mapping/proto/pose_graph.proto";
import "cartographer/mapping/proto/submap.proto";
import "cartographer/mapping/proto/trajectory_node_data.proto";
import "cartographer/sensor/proto/sensor.proto";
import "cartographer/mapping/proto/trajectory_builder_options.proto";
import "cartographer/transform/proto/transform.proto";
message Submap {
@ -60,18 +61,28 @@ message TrajectoryData {
transform.proto.Rigid3d fixed_frame_origin_in_map = 4;
}
message SerializedData {
Submap submap = 1;
Node node = 2;
ImuData imu_data = 3;
OdometryData odometry_data = 4;
FixedFramePoseData fixed_frame_pose_data = 5;
TrajectoryData trajectory_data = 6;
LandmarkData landmark_data = 7;
}
message LocalSlamResultData {
int64 timestamp = 1;
TrajectoryNodeData node_data = 2;
repeated Submap submaps = 3;
}
// Header of the serialization format. At the moment it only contains the
// version of the format.
message SerializationHeader {
uint32 format_version = 1;
}
message SerializedData {
oneof data {
PoseGraph pose_graph = 1;
AllTrajectoryBuilderOptions all_trajectory_builder_options = 2;
Submap submap = 3;
Node node = 4;
TrajectoryData trajectory_data = 5;
ImuData imu_data = 6;
OdometryData odometry_data = 7;
FixedFramePoseData fixed_frame_pose_data = 8;
LandmarkData landmark_data = 9;
}
}