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Use Task in ConstraintBuilder3D (#1119)

master
gaschler 2018-04-27 22:14:19 +02:00 committed by Wally B. Feed
parent a32cfd247b
commit a3b746ff67
2 changed files with 138 additions and 146 deletions
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223
cartographer/mapping/internal/constraints/constraint_builder_3d.cc
View File

@ -60,14 +60,17 @@ ConstraintBuilder3D::ConstraintBuilder3D(
common::ThreadPoolInterface* const thread_pool) common::ThreadPoolInterface* const thread_pool)
: options_(options), : options_(options),
thread_pool_(thread_pool), thread_pool_(thread_pool),
finish_node_task_(common::make_unique<common::Task>()),
when_done_task_(common::make_unique<common::Task>()),
sampler_(options.sampling_ratio()), sampler_(options.sampling_ratio()),
ceres_scan_matcher_(options.ceres_scan_matcher_options_3d()) {} ceres_scan_matcher_(options.ceres_scan_matcher_options_3d()) {}
ConstraintBuilder3D::~ConstraintBuilder3D() { ConstraintBuilder3D::~ConstraintBuilder3D() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
CHECK_EQ(finish_node_task_->GetState(), common::Task::NEW);
CHECK_EQ(when_done_task_->GetState(), common::Task::NEW);
CHECK_EQ(constraints_.size(), 0) << "WhenDone() was not called"; CHECK_EQ(constraints_.size(), 0) << "WhenDone() was not called";
CHECK_EQ(pending_computations_.size(), 0); CHECK_EQ(num_started_nodes_, num_finished_nodes_);
CHECK_EQ(submap_queued_work_items_.size(), 0);
CHECK(when_done_ == nullptr); CHECK(when_done_ == nullptr);
} }
@ -81,21 +84,28 @@ void ConstraintBuilder3D::MaybeAddConstraint(
.norm() > options_.max_constraint_distance()) { .norm() > options_.max_constraint_distance()) {
return; return;
} }
if (sampler_.Pulse()) { if (!sampler_.Pulse()) return;
common::MutexLocker locker(&mutex_);
constraints_.emplace_back(); common::MutexLocker locker(&mutex_);
kQueueLengthMetric->Set(constraints_.size()); if (when_done_) {
auto* const constraint = &constraints_.back(); LOG(WARNING)
++pending_computations_[current_computation_]; << "MaybeAddConstraint was called while WhenDone was scheduled.";
const int current_computation = current_computation_;
ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
submap_id, submap_nodes, submap, [=]() EXCLUDES(mutex_) {
ComputeConstraint(submap_id, node_id, false, /* match_full_submap */
constant_data, global_node_pose, global_submap_pose,
constraint);
FinishComputation(current_computation);
});
} }
constraints_.emplace_back();
kQueueLengthMetric->Set(constraints_.size());
auto* const constraint = &constraints_.back();
const auto* scan_matcher =
DispatchScanMatcherConstruction(submap_id, submap_nodes, submap);
auto constraint_task = common::make_unique<common::Task>();
constraint_task->SetWorkItem([=]() EXCLUDES(mutex_) {
ComputeConstraint(submap_id, node_id, false, /* match_full_submap */
constant_data, global_node_pose, global_submap_pose,
*scan_matcher, constraint);
});
constraint_task->AddDependency(scan_matcher->creation_task_handle);
auto constraint_task_handle =
thread_pool_->Schedule(std::move(constraint_task));
finish_node_task_->AddDependency(constraint_task_handle);
} }
void ConstraintBuilder3D::MaybeAddGlobalConstraint( void ConstraintBuilder3D::MaybeAddGlobalConstraint(
@ -105,80 +115,82 @@ void ConstraintBuilder3D::MaybeAddGlobalConstraint(
const Eigen::Quaterniond& global_node_rotation, const Eigen::Quaterniond& global_node_rotation,
const Eigen::Quaterniond& global_submap_rotation) { const Eigen::Quaterniond& global_submap_rotation) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
if (when_done_) {
LOG(WARNING)
<< "MaybeAddGlobalConstraint was called while WhenDone was scheduled.";
}
constraints_.emplace_back(); constraints_.emplace_back();
kQueueLengthMetric->Set(constraints_.size()); kQueueLengthMetric->Set(constraints_.size());
auto* const constraint = &constraints_.back(); auto* const constraint = &constraints_.back();
++pending_computations_[current_computation_]; const auto* scan_matcher =
const int current_computation = current_computation_; DispatchScanMatcherConstruction(submap_id, submap_nodes, submap);
ScheduleSubmapScanMatcherConstructionAndQueueWorkItem( auto constraint_task = common::make_unique<common::Task>();
submap_id, submap_nodes, submap, [=]() EXCLUDES(mutex_) { constraint_task->SetWorkItem([=]() EXCLUDES(mutex_) {
ComputeConstraint( ComputeConstraint(submap_id, node_id, true, /* match_full_submap */
submap_id, node_id, true, /* match_full_submap */ constant_data,
constant_data, transform::Rigid3d::Rotation(global_node_rotation), transform::Rigid3d::Rotation(global_node_rotation),
transform::Rigid3d::Rotation(global_submap_rotation), constraint); transform::Rigid3d::Rotation(global_submap_rotation),
FinishComputation(current_computation); *scan_matcher, constraint);
}); });
constraint_task->AddDependency(scan_matcher->creation_task_handle);
auto constraint_task_handle =
thread_pool_->Schedule(std::move(constraint_task));
finish_node_task_->AddDependency(constraint_task_handle);
} }
void ConstraintBuilder3D::NotifyEndOfNode() { void ConstraintBuilder3D::NotifyEndOfNode() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
++current_computation_; CHECK(finish_node_task_ != nullptr);
finish_node_task_->SetWorkItem([this] {
common::MutexLocker locker(&mutex_);
++num_finished_nodes_;
});
auto finish_node_task_handle =
thread_pool_->Schedule(std::move(finish_node_task_));
finish_node_task_ = common::make_unique<common::Task>();
when_done_task_->AddDependency(finish_node_task_handle);
++num_started_nodes_;
} }
void ConstraintBuilder3D::WhenDone( void ConstraintBuilder3D::WhenDone(
const std::function<void(const ConstraintBuilder3D::Result&)>& callback) { const std::function<void(const ConstraintBuilder3D::Result&)>& callback) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
CHECK(when_done_ == nullptr); CHECK(when_done_ == nullptr);
// TODO(gaschler): Consider using just std::function, it can also be empty.
when_done_ = when_done_ =
common::make_unique<std::function<void(const Result&)>>(callback); common::make_unique<std::function<void(const Result&)>>(callback);
++pending_computations_[current_computation_]; CHECK(when_done_task_ != nullptr);
const int current_computation = current_computation_; when_done_task_->SetWorkItem([this] { RunWhenDoneCallback(); });
thread_pool_->Schedule( thread_pool_->Schedule(std::move(when_done_task_));
[this, current_computation] { FinishComputation(current_computation); }); when_done_task_ = common::make_unique<common::Task>();
}
void ConstraintBuilder3D::ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
const SubmapId& submap_id, const std::vector<TrajectoryNode>& submap_nodes,
const Submap3D* const submap, const std::function<void()>& work_item) {
if (submap_scan_matchers_[submap_id].fast_correlative_scan_matcher !=
nullptr) {
thread_pool_->Schedule(work_item);
} else {
submap_queued_work_items_[submap_id].push_back(work_item);
if (submap_queued_work_items_[submap_id].size() == 1) {
thread_pool_->Schedule([=]() {
ConstructSubmapScanMatcher(submap_id, submap_nodes, submap);
});
}
}
}
void ConstraintBuilder3D::ConstructSubmapScanMatcher(
const SubmapId& submap_id, const std::vector<TrajectoryNode>& submap_nodes,
const Submap3D* const submap) {
auto submap_scan_matcher =
common::make_unique<scan_matching::FastCorrelativeScanMatcher3D>(
submap->high_resolution_hybrid_grid(),
&submap->low_resolution_hybrid_grid(), submap_nodes,
options_.fast_correlative_scan_matcher_options_3d());
common::MutexLocker locker(&mutex_);
submap_scan_matchers_[submap_id] = {&submap->high_resolution_hybrid_grid(),
&submap->low_resolution_hybrid_grid(),
std::move(submap_scan_matcher)};
for (const std::function<void()>& work_item :
submap_queued_work_items_[submap_id]) {
thread_pool_->Schedule(work_item);
}
submap_queued_work_items_.erase(submap_id);
} }
const ConstraintBuilder3D::SubmapScanMatcher* const ConstraintBuilder3D::SubmapScanMatcher*
ConstraintBuilder3D::GetSubmapScanMatcher(const SubmapId& submap_id) { ConstraintBuilder3D::DispatchScanMatcherConstruction(
common::MutexLocker locker(&mutex_); const SubmapId& submap_id, const std::vector<TrajectoryNode>& submap_nodes,
const SubmapScanMatcher* submap_scan_matcher = const Submap3D* submap) {
&submap_scan_matchers_[submap_id]; if (submap_scan_matchers_.count(submap_id) != 0) {
CHECK(submap_scan_matcher->fast_correlative_scan_matcher != nullptr); return &submap_scan_matchers_.at(submap_id);
return submap_scan_matcher; }
auto& submap_scan_matcher = submap_scan_matchers_[submap_id];
submap_scan_matcher.high_resolution_hybrid_grid =
&submap->high_resolution_hybrid_grid();
submap_scan_matcher.low_resolution_hybrid_grid =
&submap->low_resolution_hybrid_grid();
auto& scan_matcher_options =
options_.fast_correlative_scan_matcher_options_3d();
auto scan_matcher_task = common::make_unique<common::Task>();
scan_matcher_task->SetWorkItem(
[&submap_scan_matcher, &scan_matcher_options, submap_nodes]() {
submap_scan_matcher.fast_correlative_scan_matcher =
common::make_unique<scan_matching::FastCorrelativeScanMatcher3D>(
*submap_scan_matcher.high_resolution_hybrid_grid,
submap_scan_matcher.low_resolution_hybrid_grid, submap_nodes,
scan_matcher_options);
});
submap_scan_matcher.creation_task_handle =
thread_pool_->Schedule(std::move(scan_matcher_task));
return &submap_scan_matchers_.at(submap_id);
} }
void ConstraintBuilder3D::ComputeConstraint( void ConstraintBuilder3D::ComputeConstraint(
@ -186,10 +198,8 @@ void ConstraintBuilder3D::ComputeConstraint(
const TrajectoryNode::Data* const constant_data, const TrajectoryNode::Data* const constant_data,
const transform::Rigid3d& global_node_pose, const transform::Rigid3d& global_node_pose,
const transform::Rigid3d& global_submap_pose, const transform::Rigid3d& global_submap_pose,
const SubmapScanMatcher& submap_scan_matcher,
std::unique_ptr<Constraint>* constraint) { std::unique_ptr<Constraint>* constraint) {
const SubmapScanMatcher* const submap_scan_matcher =
GetSubmapScanMatcher(submap_id);
// The 'constraint_transform' (submap i <- node j) is computed from: // The 'constraint_transform' (submap i <- node j) is computed from:
// - a 'high_resolution_point_cloud' in node j and // - a 'high_resolution_point_cloud' in node j and
// - the initial guess 'initial_pose' (submap i <- node j). // - the initial guess 'initial_pose' (submap i <- node j).
@ -203,7 +213,7 @@ void ConstraintBuilder3D::ComputeConstraint(
if (match_full_submap) { if (match_full_submap) {
kGlobalConstraintsSearchedMetric->Increment(); kGlobalConstraintsSearchedMetric->Increment();
match_result = match_result =
submap_scan_matcher->fast_correlative_scan_matcher->MatchFullSubmap( submap_scan_matcher.fast_correlative_scan_matcher->MatchFullSubmap(
global_node_pose.rotation(), global_submap_pose.rotation(), global_node_pose.rotation(), global_submap_pose.rotation(),
*constant_data, options_.global_localization_min_score()); *constant_data, options_.global_localization_min_score());
if (match_result != nullptr) { if (match_result != nullptr) {
@ -221,7 +231,7 @@ void ConstraintBuilder3D::ComputeConstraint(
} }
} else { } else {
kConstraintsSearchedMetric->Increment(); kConstraintsSearchedMetric->Increment();
match_result = submap_scan_matcher->fast_correlative_scan_matcher->Match( match_result = submap_scan_matcher.fast_correlative_scan_matcher->Match(
global_node_pose, global_submap_pose, *constant_data, global_node_pose, global_submap_pose, *constant_data,
options_.min_score()); options_.min_score());
if (match_result != nullptr) { if (match_result != nullptr) {
@ -252,9 +262,9 @@ void ConstraintBuilder3D::ComputeConstraint(
ceres_scan_matcher_.Match(match_result->pose_estimate.translation(), ceres_scan_matcher_.Match(match_result->pose_estimate.translation(),
match_result->pose_estimate, match_result->pose_estimate,
{{&constant_data->high_resolution_point_cloud, {{&constant_data->high_resolution_point_cloud,
submap_scan_matcher->high_resolution_hybrid_grid}, submap_scan_matcher.high_resolution_hybrid_grid},
{&constant_data->low_resolution_point_cloud, {&constant_data->low_resolution_point_cloud,
submap_scan_matcher->low_resolution_hybrid_grid}}, submap_scan_matcher.low_resolution_hybrid_grid}},
&constraint_transform, &unused_summary); &constraint_transform, &unused_summary);
constraint->reset(new Constraint{ constraint->reset(new Constraint{
@ -287,54 +297,45 @@ void ConstraintBuilder3D::ComputeConstraint(
} }
} }
void ConstraintBuilder3D::FinishComputation(const int computation_index) { void ConstraintBuilder3D::RunWhenDoneCallback() {
Result result; Result result;
std::unique_ptr<std::function<void(const Result&)>> callback; std::unique_ptr<std::function<void(const Result&)>> callback;
{ {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
if (--pending_computations_[computation_index] == 0) { CHECK(when_done_ != nullptr);
pending_computations_.erase(computation_index); for (const std::unique_ptr<Constraint>& constraint : constraints_) {
if (constraint == nullptr) continue;
result.push_back(*constraint);
} }
if (pending_computations_.empty()) { if (options_.log_matches()) {
CHECK_EQ(submap_queued_work_items_.size(), 0); LOG(INFO) << constraints_.size() << " computations resulted in "
if (when_done_ != nullptr) { << result.size() << " additional constraints.\n"
for (const std::unique_ptr<Constraint>& constraint : constraints_) { << "Score histogram:\n"
if (constraint != nullptr) { << score_histogram_.ToString(10) << "\n"
result.push_back(*constraint); << "Rotational score histogram:\n"
} << rotational_score_histogram_.ToString(10) << "\n"
} << "Low resolution score histogram:\n"
if (options_.log_matches()) { << low_resolution_score_histogram_.ToString(10);
LOG(INFO) << constraints_.size() << " computations resulted in "
<< result.size() << " additional constraints.";
LOG(INFO) << "Score histogram:\n" << score_histogram_.ToString(10);
LOG(INFO) << "Rotational score histogram:\n"
<< rotational_score_histogram_.ToString(10);
LOG(INFO) << "Low resolution score histogram:\n"
<< low_resolution_score_histogram_.ToString(10);
}
constraints_.clear();
callback = std::move(when_done_);
when_done_.reset();
}
} }
constraints_.clear();
callback = std::move(when_done_);
when_done_.reset();
kQueueLengthMetric->Set(constraints_.size()); kQueueLengthMetric->Set(constraints_.size());
} }
if (callback != nullptr) { (*callback)(result);
(*callback)(result);
}
} }
int ConstraintBuilder3D::GetNumFinishedNodes() { int ConstraintBuilder3D::GetNumFinishedNodes() {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
if (pending_computations_.empty()) { return num_finished_nodes_;
return current_computation_;
}
return pending_computations_.begin()->first;
} }
void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) { void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
CHECK(pending_computations_.empty()); if (when_done_) {
LOG(WARNING)
<< "DeleteScanMatcher was called while WhenDone was scheduled.";
}
submap_scan_matchers_.erase(submap_id); submap_scan_matchers_.erase(submap_id);
} }

61
cartographer/mapping/internal/constraints/constraint_builder_3d.h
View File

@ -30,6 +30,7 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer/common/task.h"
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h" #include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
@ -48,10 +49,10 @@ namespace constraints {
// Asynchronously computes constraints. // Asynchronously computes constraints.
// //
// Intermingle an arbitrary number of calls to MaybeAddConstraint() or // Intermingle an arbitrary number of calls to 'MaybeAddConstraint',
// MaybeAddGlobalConstraint, then call WhenDone(). After all computations are // 'MaybeAddGlobalConstraint', and 'NotifyEndOfNode', then call 'WhenDone' once.
// done the 'callback' will be called with the result and another // After all computations are done the 'callback' will be called with the result
// MaybeAdd(Global)Constraint()/WhenDone() cycle can follow. // and another MaybeAdd(Global)Constraint()/WhenDone() cycle can follow.
// //
// This class is thread-safe. // This class is thread-safe.
class ConstraintBuilder3D { class ConstraintBuilder3D {
@ -101,7 +102,8 @@ class ConstraintBuilder3D {
void NotifyEndOfNode(); void NotifyEndOfNode();
// Registers the 'callback' to be called with the results, after all // Registers the 'callback' to be called with the results, after all
// computations triggered by MaybeAddConstraint() have finished. // computations triggered by 'MaybeAdd*Constraint' have finished.
// 'callback' is executed in the 'ThreadPool'.
void WhenDone(const std::function<void(const Result&)>& callback); void WhenDone(const std::function<void(const Result&)>& callback);
// Returns the number of consecutive finished nodes. // Returns the number of consecutive finished nodes.
@ -118,24 +120,15 @@ class ConstraintBuilder3D {
const HybridGrid* low_resolution_hybrid_grid; const HybridGrid* low_resolution_hybrid_grid;
std::unique_ptr<scan_matching::FastCorrelativeScanMatcher3D> std::unique_ptr<scan_matching::FastCorrelativeScanMatcher3D>
fast_correlative_scan_matcher; fast_correlative_scan_matcher;
std::weak_ptr<common::Task> creation_task_handle;
}; };
// Either schedules the 'work_item', or if needed, schedules the scan matcher // The returned 'grid' and 'fast_correlative_scan_matcher' must only be
// construction and queues the 'work_item'. // accessed after 'creation_task_handle' has completed.
void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem( const SubmapScanMatcher* DispatchScanMatcherConstruction(
const SubmapId& submap_id,
const std::vector<TrajectoryNode>& submap_nodes, const Submap3D* submap,
const std::function<void()>& work_item) REQUIRES(mutex_);
// Constructs the scan matcher for a 'submap', then schedules its work items.
void ConstructSubmapScanMatcher(
const SubmapId& submap_id, const SubmapId& submap_id,
const std::vector<TrajectoryNode>& submap_nodes, const Submap3D* submap) const std::vector<TrajectoryNode>& submap_nodes, const Submap3D* submap)
EXCLUDES(mutex_); REQUIRES(mutex_);
// Returns the scan matcher for a submap, which has to exist.
const SubmapScanMatcher* GetSubmapScanMatcher(const SubmapId& submap_id)
EXCLUDES(mutex_);
// Runs in a background thread and does computations for an additional // Runs in a background thread and does computations for an additional
// constraint. // constraint.
@ -145,12 +138,11 @@ class ConstraintBuilder3D {
const TrajectoryNode::Data* const constant_data, const TrajectoryNode::Data* const constant_data,
const transform::Rigid3d& global_node_pose, const transform::Rigid3d& global_node_pose,
const transform::Rigid3d& global_submap_pose, const transform::Rigid3d& global_submap_pose,
const SubmapScanMatcher& submap_scan_matcher,
std::unique_ptr<Constraint>* constraint) std::unique_ptr<Constraint>* constraint)
EXCLUDES(mutex_); EXCLUDES(mutex_);
// Decrements the 'pending_computations_' count. If all computations are done, void RunWhenDoneCallback() EXCLUDES(mutex_);
// runs the 'when_done_' callback and resets the state.
void FinishComputation(int computation_index) EXCLUDES(mutex_);
const proto::ConstraintBuilderOptions options_; const proto::ConstraintBuilderOptions options_;
common::ThreadPoolInterface* thread_pool_; common::ThreadPoolInterface* thread_pool_;
@ -160,28 +152,27 @@ class ConstraintBuilder3D {
std::unique_ptr<std::function<void(const Result&)>> when_done_ std::unique_ptr<std::function<void(const Result&)>> when_done_
GUARDED_BY(mutex_); GUARDED_BY(mutex_);
// Index of the node in reaction to which computations are currently // TODO(gaschler): Use atomics instead of mutex to access these counters.
// added. This is always the highest node index seen so far, even when older // Number of the node in reaction to which computations are currently
// added. This is always the number of nodes seen so far, even when older
// nodes are matched against a new submap. // nodes are matched against a new submap.
int current_computation_ GUARDED_BY(mutex_) = 0; int num_started_nodes_ GUARDED_BY(mutex_) = 0;
// For each added node, maps to the number of pending computations that were int num_finished_nodes_ GUARDED_BY(mutex_) = 0;
// added for it.
std::map<int, int> pending_computations_ GUARDED_BY(mutex_); std::unique_ptr<common::Task> finish_node_task_ GUARDED_BY(mutex_);
std::unique_ptr<common::Task> when_done_task_ GUARDED_BY(mutex_);
// Constraints currently being computed in the background. A deque is used to // Constraints currently being computed in the background. A deque is used to
// keep pointers valid when adding more entries. // keep pointers valid when adding more entries. Constraint search results
// with below-threshold scores are also 'nullptr'.
std::deque<std::unique_ptr<Constraint>> constraints_ GUARDED_BY(mutex_); std::deque<std::unique_ptr<Constraint>> constraints_ GUARDED_BY(mutex_);
// Map of already constructed scan matchers by 'submap_id'. // Map of dispatched or constructed scan matchers by 'submap_id'.
std::map<SubmapId, SubmapScanMatcher> submap_scan_matchers_ std::map<SubmapId, SubmapScanMatcher> submap_scan_matchers_
GUARDED_BY(mutex_); GUARDED_BY(mutex_);
// Map by 'submap_id' of scan matchers under construction, and the work
// to do once construction is done.
std::map<SubmapId, std::vector<std::function<void()>>>
submap_queued_work_items_ GUARDED_BY(mutex_);
common::FixedRatioSampler sampler_; common::FixedRatioSampler sampler_;
scan_matching::CeresScanMatcher3D ceres_scan_matcher_; scan_matching::CeresScanMatcher3D ceres_scan_matcher_;