Submap serialization support. (#376)

master
Brandon D. Northcutt 2017-07-03 08:59:55 -07:00 committed by Wolfgang Hess
parent 03b9285034
commit 5396156968
8 changed files with 142 additions and 8 deletions

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@ -0,0 +1,30 @@
// Copyright 2016 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 = "proto2";
package cartographer.mapping.proto;
import "cartographer/transform/proto/transform.proto";
import "cartographer/mapping_2d/proto/probability_grid.proto";
import "cartographer/mapping_3d/proto/hybrid_grid.proto";
message Submap {
optional transform.proto.Rigid3d local_pose = 1;
optional int32 num_range_data = 2;
optional bool finished = 3;
optional mapping_2d.proto.ProbabilityGrid probability_grid = 4;
optional mapping_3d.proto.HybridGrid high_resolution_hybrid_grid = 5;
optional mapping_3d.proto.HybridGrid low_resolution_hybrid_grid = 6;
}

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@ -72,14 +72,13 @@ class Submap {
const transform::Rigid3d& global_submap_pose,
proto::SubmapQuery::Response* response) const = 0;
protected:
void SetNumRangeData(int num_range_data) { num_range_data_ = num_range_data; }
private:
const transform::Rigid3d local_pose_;
protected:
// TODO(hrapp): This should be private.
int num_range_data_ = 0;
};
} // namespace mapping
} // namespace cartographer

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@ -69,6 +69,22 @@ Submap::Submap(const MapLimits& limits, const Eigen::Vector2f& origin)
Eigen::Vector3d(origin.x(), origin.y(), 0.))),
probability_grid_(limits) {}
Submap::Submap(const mapping::proto::Submap& proto)
: mapping::Submap(transform::ToRigid3(proto.local_pose())),
probability_grid_(ProbabilityGrid(proto.probability_grid())) {
SetNumRangeData(proto.num_range_data());
finished_ = proto.finished();
}
mapping::proto::Submap Submap::ToProto() const {
mapping::proto::Submap proto;
*proto.mutable_local_pose() = transform::ToProto(local_pose());
proto.set_num_range_data(num_range_data());
proto.set_finished(finished_);
*proto.mutable_probability_grid() = probability_grid_.ToProto();
return proto;
}
void Submap::ToResponseProto(
const transform::Rigid3d&,
mapping::proto::SubmapQuery::Response* const response) const {
@ -119,7 +135,7 @@ void Submap::InsertRangeData(const sensor::RangeData& range_data,
const RangeDataInserter& range_data_inserter) {
CHECK(!finished_);
range_data_inserter.Insert(range_data, &probability_grid_);
++num_range_data_;
SetNumRangeData(num_range_data() + 1);
}
void Submap::Finish() {

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@ -22,6 +22,7 @@
#include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/proto/submap.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.h"
@ -44,9 +45,12 @@ proto::SubmapsOptions CreateSubmapsOptions(
class Submap : public mapping::Submap {
public:
Submap(const MapLimits& limits, const Eigen::Vector2f& origin);
explicit Submap(const mapping::proto::Submap& proto);
mapping::proto::Submap ToProto() const;
const ProbabilityGrid& probability_grid() const { return probability_grid_; }
const bool finished() const { return finished_; }
bool finished() const { return finished_; }
void ToResponseProto(
const transform::Rigid3d& global_submap_pose,

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@ -68,6 +68,24 @@ TEST(SubmapsTest, TheRightNumberOfScansAreInserted) {
EXPECT_EQ(correct_num_scans, all_submaps.size() - 2);
}
TEST(SubmapsTest, ToFromProto) {
Submap expected(MapLimits(1., Eigen::Vector2d(2., 3.), CellLimits(100, 110)),
Eigen::Vector2f(4.f, 5.f));
const auto actual = Submap(expected.ToProto());
EXPECT_TRUE(expected.local_pose().translation().isApprox(
actual.local_pose().translation(), 1e-6));
EXPECT_TRUE(expected.local_pose().rotation().isApprox(
actual.local_pose().rotation(), 1e-6));
EXPECT_EQ(expected.num_range_data(), actual.num_range_data());
EXPECT_EQ(expected.finished(), actual.finished());
EXPECT_NEAR(expected.probability_grid().limits().resolution(),
actual.probability_grid().limits().resolution(), 1e-6);
EXPECT_TRUE(expected.probability_grid().limits().max().isApprox(
actual.probability_grid().limits().max(), 1e-6));
EXPECT_EQ(expected.probability_grid().limits().cell_limits().num_x_cells,
actual.probability_grid().limits().cell_limits().num_x_cells);
}
} // namespace
} // namespace mapping_2d
} // namespace cartographer

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@ -326,6 +326,26 @@ Submap::Submap(const float high_resolution, const float low_resolution,
high_resolution_hybrid_grid_(high_resolution),
low_resolution_hybrid_grid_(low_resolution) {}
Submap::Submap(const mapping::proto::Submap& proto)
: mapping::Submap(transform::ToRigid3(proto.local_pose())),
high_resolution_hybrid_grid_(proto.high_resolution_hybrid_grid()),
low_resolution_hybrid_grid_(proto.low_resolution_hybrid_grid()) {
SetNumRangeData(proto.num_range_data());
finished_ = proto.finished();
}
mapping::proto::Submap Submap::ToProto() const {
mapping::proto::Submap proto;
*proto.mutable_local_pose() = transform::ToProto(local_pose());
proto.set_num_range_data(num_range_data());
proto.set_finished(finished_);
*proto.mutable_high_resolution_hybrid_grid() =
mapping_3d::ToProto(high_resolution_hybrid_grid());
*proto.mutable_low_resolution_hybrid_grid() =
mapping_3d::ToProto(low_resolution_hybrid_grid());
return proto;
}
void Submap::ToResponseProto(
const transform::Rigid3d& global_submap_pose,
mapping::proto::SubmapQuery::Response* const response) const {
@ -372,7 +392,7 @@ void Submap::InsertRangeData(const sensor::RangeData& range_data,
&high_resolution_hybrid_grid_);
range_data_inserter.Insert(transformed_range_data,
&low_resolution_hybrid_grid_);
++num_range_data_;
SetNumRangeData(num_range_data() + 1);
}
void Submap::Finish() {

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@ -24,6 +24,7 @@
#include "Eigen/Geometry"
#include "cartographer/common/port.h"
#include "cartographer/mapping/id.h"
#include "cartographer/mapping/proto/submap.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/submaps.h"
#include "cartographer/mapping_2d/probability_grid.h"
@ -51,6 +52,9 @@ class Submap : public mapping::Submap {
public:
Submap(float high_resolution, float low_resolution,
const transform::Rigid3d& local_pose);
explicit Submap(const mapping::proto::Submap& proto);
mapping::proto::Submap ToProto() const;
const HybridGrid& high_resolution_hybrid_grid() const {
return high_resolution_hybrid_grid_;
@ -58,7 +62,7 @@ class Submap : public mapping::Submap {
const HybridGrid& low_resolution_hybrid_grid() const {
return low_resolution_hybrid_grid_;
}
const bool finished() const { return finished_; }
bool finished() const { return finished_; }
void ToResponseProto(
const transform::Rigid3d& global_submap_pose,

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@ -0,0 +1,43 @@
/*
* Copyright 2016 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/mapping_3d/submaps.h"
#include "cartographer/transform/transform.h"
#include "gmock/gmock.h"
namespace cartographer {
namespace mapping_3d {
namespace {
TEST(SubmapsTest, ToFromProto) {
const Submap expected(0.05, 0.25,
transform::Rigid3d(Eigen::Vector3d(1., 2., 0.),
Eigen::Quaterniond(0., 0., 0., 1.)));
const auto actual = Submap(expected.ToProto());
EXPECT_TRUE(expected.local_pose().translation().isApprox(
actual.local_pose().translation(), 1e-6));
EXPECT_TRUE(expected.local_pose().rotation().isApprox(
actual.local_pose().rotation(), 1e-6));
EXPECT_EQ(expected.num_range_data(), actual.num_range_data());
EXPECT_EQ(expected.finished(), actual.finished());
EXPECT_NEAR(expected.high_resolution_hybrid_grid().resolution(), 0.05, 1e-6);
EXPECT_NEAR(expected.low_resolution_hybrid_grid().resolution(), 0.25, 1e-6);
}
} // namespace
} // namespace mapping_3d
} // namespace cartographer