Migration tool for serialization format (#1167)
* New serialization protos * Moved old definition to legacy_serialized_data.proto * defining new serialization format as oneof. * Changing to legacy datatype * adding serialization migration * moving to io * adding serialization migration * moving to io * adding file for test * adding test * test for order or migrated serialized data * test for order or migrated serialized data * renaming tool * addressing comments * addressing more comments * minor polishingmaster
Sebastian Klose
GitHub
parent
cd7df83e1c
commit
a9c90da1a8
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@ -179,6 +179,11 @@ google_binary(cartographer_compute_relations_metrics
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cartographer/ground_truth/compute_relations_metrics_main.cc
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)
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google_binary(cartographer_migrate_serialization_format
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SRCS
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cartographer/io/migrate_serialization_format_main.cc
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)
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if(${BUILD_GRPC})
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google_binary(cartographer_grpc_server
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SRCS
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@ -0,0 +1,48 @@
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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/io/proto_stream.h"
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#include "cartographer/io/serialization_format_migration.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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DEFINE_string(
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original_pbstream_file, "",
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"Path to the pbstream file that will be migrated to the new version.");
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DEFINE_string(output_pbstream_file, "",
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"Output filename for the migrated pbstream.");
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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FLAGS_logtostderr = true;
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google::SetUsageMessage(
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"\n\n"
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"Tool for migrating files that use the serialization output of "
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"Cartographer 0.3, to the new serialization format, which includes a "
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"header (Version 1).");
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (FLAGS_original_pbstream_file.empty() ||
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FLAGS_output_pbstream_file.empty()) {
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google::ShowUsageWithFlagsRestrict(argv[0], "migrate_serialization_format");
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return EXIT_FAILURE;
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}
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cartographer::io::ProtoStreamReader input(FLAGS_original_pbstream_file);
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cartographer::io::ProtoStreamWriter output(FLAGS_output_pbstream_file);
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cartographer::io::MigrateStreamFormatToVersion1(&input, &output);
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return EXIT_SUCCESS;
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}
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@ -0,0 +1,153 @@
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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/io/serialization_format_migration.h"
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#include <unordered_map>
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#include <vector>
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#include "cartographer/mapping/proto/internal/legacy_serialized_data.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace io {
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namespace {
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using mapping::proto::SerializedData;
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using ProtoMap = std::unordered_map<int, std::vector<SerializedData>>;
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bool ReadPoseGraph(cartographer::io::ProtoStreamReaderInterface* const input,
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ProtoMap* proto_map) {
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auto& pose_graph_vec = (*proto_map)[SerializedData::kPoseGraph];
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pose_graph_vec.emplace_back();
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return input->ReadProto(pose_graph_vec.back().mutable_pose_graph());
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}
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bool ReadBuilderOptions(
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cartographer::io::ProtoStreamReaderInterface* const input,
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ProtoMap* proto_map) {
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auto& options_vec =
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(*proto_map)[SerializedData::kAllTrajectoryBuilderOptions];
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options_vec.emplace_back();
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return input->ReadProto(
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options_vec.back().mutable_all_trajectory_builder_options());
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}
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bool DeserializeNext(cartographer::io::ProtoStreamReaderInterface* const input,
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ProtoMap* proto_map) {
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mapping::proto::LegacySerializedData legacy_data;
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if (!input->ReadProto(&legacy_data)) return false;
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if (legacy_data.has_submap()) {
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auto& output_vector = (*proto_map)[SerializedData::kSubmapFieldNumber];
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output_vector.emplace_back();
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*output_vector.back().mutable_submap() = legacy_data.submap();
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}
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if (legacy_data.has_node()) {
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auto& output_vector = (*proto_map)[SerializedData::kNodeFieldNumber];
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output_vector.emplace_back();
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*output_vector.back().mutable_node() = legacy_data.node();
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}
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if (legacy_data.has_trajectory_data()) {
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auto& output_vector =
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(*proto_map)[SerializedData::kTrajectoryDataFieldNumber];
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output_vector.emplace_back();
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*output_vector.back().mutable_trajectory_data() =
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legacy_data.trajectory_data();
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}
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if (legacy_data.has_imu_data()) {
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auto& output_vector = (*proto_map)[SerializedData::kImuDataFieldNumber];
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output_vector.emplace_back();
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*output_vector.back().mutable_imu_data() = legacy_data.imu_data();
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}
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if (legacy_data.has_odometry_data()) {
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auto& output_vector = (*proto_map)[SerializedData::kOdometryData];
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output_vector.emplace_back();
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*output_vector.back().mutable_odometry_data() = legacy_data.odometry_data();
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}
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if (legacy_data.has_fixed_frame_pose_data()) {
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auto& output_vector =
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(*proto_map)[SerializedData::kFixedFramePoseDataFieldNumber];
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output_vector.emplace_back();
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*output_vector.back().mutable_fixed_frame_pose_data() =
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legacy_data.fixed_frame_pose_data();
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}
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if (legacy_data.has_landmark_data()) {
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auto& output_vector =
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(*proto_map)[SerializedData::kLandmarkDataFieldNumber];
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output_vector.emplace_back();
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*output_vector.back().mutable_landmark_data() = legacy_data.landmark_data();
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}
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return true;
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}
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ProtoMap ParseLegacyData(
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cartographer::io::ProtoStreamReaderInterface* const input) {
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ProtoMap proto_map;
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CHECK(ReadPoseGraph(input, &proto_map))
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<< "Input stream seems to differ from original stream format. Could "
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"not "
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"read PoseGraph as first message.";
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CHECK(ReadBuilderOptions(input, &proto_map))
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<< "Input stream seems to differ from original stream format. Could "
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"not "
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"read AllTrajectoryBuilderOptions as second message.";
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do {
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} while (DeserializeNext(input, &proto_map));
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return proto_map;
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}
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mapping::proto::SerializationHeader CreateSerializationHeader() {
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constexpr uint32_t kVersion1 = 1;
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mapping::proto::SerializationHeader header;
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header.set_format_version(kVersion1);
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return header;
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}
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void SerializeToVersion1Format(
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const ProtoMap& deserialized_data,
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cartographer::io::ProtoStreamWriterInterface* const output) {
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const std::vector<int> kFieldSerializationOrder = {
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SerializedData::kPoseGraphFieldNumber,
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SerializedData::kAllTrajectoryBuilderOptionsFieldNumber,
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SerializedData::kSubmapFieldNumber,
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SerializedData::kNodeFieldNumber,
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SerializedData::kTrajectoryDataFieldNumber,
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SerializedData::kImuDataFieldNumber,
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SerializedData::kOdometryDataFieldNumber,
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SerializedData::kFixedFramePoseDataFieldNumber,
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SerializedData::kLandmarkDataFieldNumber};
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output->WriteProto(CreateSerializationHeader());
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for (auto field_index : kFieldSerializationOrder) {
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const auto proto_vector_it = deserialized_data.find(field_index);
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if (proto_vector_it == deserialized_data.end()) continue;
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for (const auto& proto : proto_vector_it->second) {
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output->WriteProto(proto);
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}
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}
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}
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} // namespace
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void MigrateStreamFormatToVersion1(
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cartographer::io::ProtoStreamReaderInterface* const input,
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cartographer::io::ProtoStreamWriterInterface* const output) {
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SerializeToVersion1Format(ParseLegacyData(input), output);
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}
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} // namespace io
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} // namespace cartographer
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@ -0,0 +1,36 @@
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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_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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#define CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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#include "cartographer/io/proto_stream_interface.h"
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namespace cartographer {
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namespace io {
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// This helper function, migrates the input stream, which is supposed to match
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// to the "old" stream format order (PoseGraph, AllTrajectoryBuilderOptions,
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// SerializedData*) to the version 1 stream format (SerializationHeader,
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// SerializedData*).
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void MigrateStreamFormatToVersion1(
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cartographer::io::ProtoStreamReaderInterface* const input,
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cartographer::io::ProtoStreamWriterInterface* const output);
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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@ -0,0 +1,120 @@
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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/io/serialization_format_migration.h"
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#include <functional>
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#include <memory>
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#include "cartographer/io/internal/in_memory_proto_stream.h"
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#include "cartographer/mapping/proto/internal/legacy_serialized_data.pb.h"
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#include "cartographer/mapping/proto/pose_graph.pb.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "gmock/gmock.h"
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#include "google/protobuf/text_format.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace io {
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namespace {
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using ::google::protobuf::TextFormat;
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using ::testing::Eq;
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using ::testing::SizeIs;
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class MigrationTest : public ::testing::Test {
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protected:
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void SetUp() {
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writer_.reset(new ForwardingProtoStreamWriter(
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[this](const google::protobuf::Message* proto) -> bool {
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std::string msg_string;
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TextFormat::PrintToString(*proto, &msg_string);
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this->output_messages_.push_back(msg_string);
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return true;
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}));
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mapping::proto::PoseGraph pose_graph;
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mapping::proto::AllTrajectoryBuilderOptions all_options;
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mapping::proto::LegacySerializedData submap;
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submap.mutable_submap();
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mapping::proto::LegacySerializedData node;
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node.mutable_node();
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mapping::proto::LegacySerializedData imu_data;
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imu_data.mutable_imu_data();
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mapping::proto::LegacySerializedData odometry_data;
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odometry_data.mutable_odometry_data();
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mapping::proto::LegacySerializedData fixed_frame_pose;
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fixed_frame_pose.mutable_fixed_frame_pose_data();
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mapping::proto::LegacySerializedData trajectory_data;
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trajectory_data.mutable_trajectory_data();
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mapping::proto::LegacySerializedData landmark_data;
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landmark_data.mutable_landmark_data();
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reader_.AddProto(pose_graph);
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reader_.AddProto(all_options);
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reader_.AddProto(submap);
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reader_.AddProto(node);
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reader_.AddProto(imu_data);
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reader_.AddProto(odometry_data);
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reader_.AddProto(fixed_frame_pose);
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reader_.AddProto(trajectory_data);
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reader_.AddProto(landmark_data);
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}
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InMemoryProtoStreamReader reader_;
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std::unique_ptr<ForwardingProtoStreamWriter> writer_;
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std::vector<std::string> output_messages_;
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static constexpr int kNumOriginalMessages = 9;
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};
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TEST_F(MigrationTest, MigrationAddsHeaderAsFirstMessage) {
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MigrateStreamFormatToVersion1(&reader_, writer_.get());
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// We expect one message more than the original number of messages, because of
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// the added header.
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EXPECT_THAT(output_messages_, SizeIs(kNumOriginalMessages + 1));
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mapping::proto::SerializationHeader header;
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EXPECT_TRUE(TextFormat::ParseFromString(output_messages_[0], &header));
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EXPECT_THAT(header.format_version(), Eq(1));
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}
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TEST_F(MigrationTest, SerializedDataOrderIsCorrect) {
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MigrateStreamFormatToVersion1(&reader_, writer_.get());
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EXPECT_THAT(output_messages_, SizeIs(kNumOriginalMessages + 1));
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std::vector<mapping::proto::SerializedData> serialized(
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output_messages_.size() - 1);
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for (size_t i = 1; i < output_messages_.size(); ++i) {
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EXPECT_TRUE(
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TextFormat::ParseFromString(output_messages_[i], &serialized[i - 1]));
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}
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EXPECT_TRUE(serialized[0].has_pose_graph());
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EXPECT_TRUE(serialized[1].has_all_trajectory_builder_options());
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EXPECT_TRUE(serialized[2].has_submap());
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EXPECT_TRUE(serialized[3].has_node());
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EXPECT_TRUE(serialized[4].has_trajectory_data());
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EXPECT_TRUE(serialized[5].has_imu_data());
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EXPECT_TRUE(serialized[6].has_odometry_data());
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EXPECT_TRUE(serialized[7].has_fixed_frame_pose_data());
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EXPECT_TRUE(serialized[8].has_landmark_data());
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}
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} // namespace
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} // namespace io
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} // namespace cartographer
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