Move GlobalTrajectoryBuilder to cc file (#923)
* Move GlobalTrajectoryBuilder to cc file. This allows to instrument file-level static metrics. Also, it is a cleaner interface. * two create functions * drop superfluous typenamemaster
gaschler
Alexander Belyaev
parent
c32cb49b01
commit
ab05459f1c
|
|
@ -0,0 +1,155 @@
|
|||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#include "cartographer/internal/mapping/global_trajectory_builder.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include "cartographer/common/make_unique.h"
|
||||
#include "cartographer/mapping/local_slam_result_data.h"
|
||||
#include "glog/logging.h"
|
||||
|
||||
namespace cartographer {
|
||||
namespace mapping {
|
||||
namespace {
|
||||
|
||||
template <typename LocalTrajectoryBuilder, typename PoseGraph>
|
||||
class GlobalTrajectoryBuilder : public mapping::TrajectoryBuilderInterface {
|
||||
public:
|
||||
// Passing a 'nullptr' for 'local_trajectory_builder' is acceptable, but no
|
||||
// 'TimedPointCloudData' may be added in that case.
|
||||
GlobalTrajectoryBuilder(
|
||||
std::unique_ptr<LocalTrajectoryBuilder> local_trajectory_builder,
|
||||
const int trajectory_id, PoseGraph* const pose_graph,
|
||||
const LocalSlamResultCallback& local_slam_result_callback)
|
||||
: trajectory_id_(trajectory_id),
|
||||
pose_graph_(pose_graph),
|
||||
local_trajectory_builder_(std::move(local_trajectory_builder)),
|
||||
local_slam_result_callback_(local_slam_result_callback) {}
|
||||
~GlobalTrajectoryBuilder() override {}
|
||||
|
||||
GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
|
||||
GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
|
||||
|
||||
void AddSensorData(
|
||||
const std::string& sensor_id,
|
||||
const sensor::TimedPointCloudData& timed_point_cloud_data) override {
|
||||
CHECK(local_trajectory_builder_)
|
||||
<< "Cannot add TimedPointCloudData without a LocalTrajectoryBuilder.";
|
||||
std::unique_ptr<typename LocalTrajectoryBuilder::MatchingResult>
|
||||
matching_result = local_trajectory_builder_->AddRangeData(
|
||||
timed_point_cloud_data.time,
|
||||
sensor::TimedRangeData{timed_point_cloud_data.origin,
|
||||
timed_point_cloud_data.ranges,
|
||||
{}});
|
||||
if (matching_result == nullptr) {
|
||||
// The range data has not been fully accumulated yet.
|
||||
return;
|
||||
}
|
||||
std::unique_ptr<InsertionResult> insertion_result;
|
||||
if (matching_result->insertion_result != nullptr) {
|
||||
auto node_id = pose_graph_->AddNode(
|
||||
matching_result->insertion_result->constant_data, trajectory_id_,
|
||||
matching_result->insertion_result->insertion_submaps);
|
||||
CHECK_EQ(node_id.trajectory_id, trajectory_id_);
|
||||
insertion_result = common::make_unique<InsertionResult>(InsertionResult{
|
||||
node_id, matching_result->insertion_result->constant_data,
|
||||
std::vector<std::shared_ptr<const Submap>>(
|
||||
matching_result->insertion_result->insertion_submaps.begin(),
|
||||
matching_result->insertion_result->insertion_submaps.end())});
|
||||
}
|
||||
if (local_slam_result_callback_) {
|
||||
local_slam_result_callback_(
|
||||
trajectory_id_, matching_result->time, matching_result->local_pose,
|
||||
std::move(matching_result->range_data_in_local),
|
||||
std::move(insertion_result));
|
||||
}
|
||||
}
|
||||
|
||||
void AddSensorData(const std::string& sensor_id,
|
||||
const sensor::ImuData& imu_data) override {
|
||||
if (local_trajectory_builder_) {
|
||||
local_trajectory_builder_->AddImuData(imu_data);
|
||||
}
|
||||
pose_graph_->AddImuData(trajectory_id_, imu_data);
|
||||
}
|
||||
|
||||
void AddSensorData(const std::string& sensor_id,
|
||||
const sensor::OdometryData& odometry_data) override {
|
||||
CHECK(odometry_data.pose.IsValid()) << odometry_data.pose;
|
||||
if (local_trajectory_builder_) {
|
||||
local_trajectory_builder_->AddOdometryData(odometry_data);
|
||||
}
|
||||
pose_graph_->AddOdometryData(trajectory_id_, odometry_data);
|
||||
}
|
||||
|
||||
void AddSensorData(
|
||||
const std::string& sensor_id,
|
||||
const sensor::FixedFramePoseData& fixed_frame_pose) override {
|
||||
if (fixed_frame_pose.pose.has_value()) {
|
||||
CHECK(fixed_frame_pose.pose.value().IsValid())
|
||||
<< fixed_frame_pose.pose.value();
|
||||
}
|
||||
pose_graph_->AddFixedFramePoseData(trajectory_id_, fixed_frame_pose);
|
||||
}
|
||||
|
||||
void AddSensorData(const std::string& sensor_id,
|
||||
const sensor::LandmarkData& landmark_data) override {
|
||||
pose_graph_->AddLandmarkData(trajectory_id_, landmark_data);
|
||||
}
|
||||
|
||||
void AddLocalSlamResultData(std::unique_ptr<mapping::LocalSlamResultData>
|
||||
local_slam_result_data) override {
|
||||
CHECK(!local_trajectory_builder_) << "Can't add LocalSlamResultData with "
|
||||
"local_trajectory_builder_ present.";
|
||||
local_slam_result_data->AddToPoseGraph(trajectory_id_, pose_graph_);
|
||||
}
|
||||
|
||||
private:
|
||||
const int trajectory_id_;
|
||||
PoseGraph* const pose_graph_;
|
||||
std::unique_ptr<LocalTrajectoryBuilder> local_trajectory_builder_;
|
||||
LocalSlamResultCallback local_slam_result_callback_;
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder2D(
|
||||
std::unique_ptr<mapping_2d::LocalTrajectoryBuilder>
|
||||
local_trajectory_builder,
|
||||
const int trajectory_id, mapping::PoseGraph2D* const pose_graph,
|
||||
const TrajectoryBuilderInterface::LocalSlamResultCallback&
|
||||
local_slam_result_callback) {
|
||||
return common::make_unique<GlobalTrajectoryBuilder<
|
||||
mapping_2d::LocalTrajectoryBuilder, mapping::PoseGraph2D>>(
|
||||
std::move(local_trajectory_builder), trajectory_id, pose_graph,
|
||||
local_slam_result_callback);
|
||||
}
|
||||
|
||||
std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D(
|
||||
std::unique_ptr<mapping_3d::LocalTrajectoryBuilder>
|
||||
local_trajectory_builder,
|
||||
const int trajectory_id, mapping::PoseGraph3D* const pose_graph,
|
||||
const TrajectoryBuilderInterface::LocalSlamResultCallback&
|
||||
local_slam_result_callback) {
|
||||
return common::make_unique<GlobalTrajectoryBuilder<
|
||||
mapping_3d::LocalTrajectoryBuilder, mapping::PoseGraph3D>>(
|
||||
std::move(local_trajectory_builder), trajectory_id, pose_graph,
|
||||
local_slam_result_callback);
|
||||
}
|
||||
|
||||
} // namespace mapping
|
||||
} // namespace cartographer
|
||||
|
|
@ -17,113 +17,31 @@
|
|||
#ifndef CARTOGRAPHER_INTERNAL_MAPPING_GLOBAL_TRAJECTORY_BUILDER_H_
|
||||
#define CARTOGRAPHER_INTERNAL_MAPPING_GLOBAL_TRAJECTORY_BUILDER_H_
|
||||
|
||||
#include "cartographer/mapping/trajectory_builder_interface.h"
|
||||
#include <memory>
|
||||
|
||||
#include "cartographer/internal/mapping_2d/local_trajectory_builder.h"
|
||||
#include "cartographer/internal/mapping_3d/local_trajectory_builder.h"
|
||||
#include "cartographer/mapping/local_slam_result_data.h"
|
||||
#include "glog/logging.h"
|
||||
#include "cartographer/mapping/trajectory_builder_interface.h"
|
||||
#include "cartographer/mapping_2d/pose_graph_2d.h"
|
||||
#include "cartographer/mapping_3d/pose_graph_3d.h"
|
||||
|
||||
namespace cartographer {
|
||||
namespace mapping {
|
||||
|
||||
template <typename LocalTrajectoryBuilder,
|
||||
typename LocalTrajectoryBuilderOptions, typename PoseGraph>
|
||||
class GlobalTrajectoryBuilder : public mapping::TrajectoryBuilderInterface {
|
||||
public:
|
||||
// Passing a 'nullptr' for 'local_trajectory_builder' is acceptable, but no
|
||||
// 'TimedPointCloudData' may be added in that case.
|
||||
GlobalTrajectoryBuilder(
|
||||
std::unique_ptr<LocalTrajectoryBuilder> local_trajectory_builder,
|
||||
const int trajectory_id, PoseGraph* const pose_graph,
|
||||
const LocalSlamResultCallback& local_slam_result_callback)
|
||||
: trajectory_id_(trajectory_id),
|
||||
pose_graph_(pose_graph),
|
||||
local_trajectory_builder_(std::move(local_trajectory_builder)),
|
||||
local_slam_result_callback_(local_slam_result_callback) {}
|
||||
~GlobalTrajectoryBuilder() override {}
|
||||
std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder2D(
|
||||
std::unique_ptr<mapping_2d::LocalTrajectoryBuilder>
|
||||
local_trajectory_builder,
|
||||
const int trajectory_id, mapping::PoseGraph2D* const pose_graph,
|
||||
const TrajectoryBuilderInterface::LocalSlamResultCallback&
|
||||
local_slam_result_callback);
|
||||
|
||||
GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
|
||||
GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
|
||||
|
||||
void AddSensorData(
|
||||
const std::string& sensor_id,
|
||||
const sensor::TimedPointCloudData& timed_point_cloud_data) override {
|
||||
CHECK(local_trajectory_builder_)
|
||||
<< "Cannot add TimedPointCloudData without a LocalTrajectoryBuilder.";
|
||||
std::unique_ptr<typename LocalTrajectoryBuilder::MatchingResult>
|
||||
matching_result = local_trajectory_builder_->AddRangeData(
|
||||
timed_point_cloud_data.time,
|
||||
sensor::TimedRangeData{timed_point_cloud_data.origin,
|
||||
timed_point_cloud_data.ranges,
|
||||
{}});
|
||||
if (matching_result == nullptr) {
|
||||
// The range data has not been fully accumulated yet.
|
||||
return;
|
||||
}
|
||||
std::unique_ptr<InsertionResult> insertion_result;
|
||||
if (matching_result->insertion_result != nullptr) {
|
||||
auto node_id = pose_graph_->AddNode(
|
||||
matching_result->insertion_result->constant_data, trajectory_id_,
|
||||
matching_result->insertion_result->insertion_submaps);
|
||||
CHECK_EQ(node_id.trajectory_id, trajectory_id_);
|
||||
insertion_result = common::make_unique<InsertionResult>(InsertionResult{
|
||||
node_id, matching_result->insertion_result->constant_data,
|
||||
std::vector<std::shared_ptr<const Submap>>(
|
||||
matching_result->insertion_result->insertion_submaps.begin(),
|
||||
matching_result->insertion_result->insertion_submaps.end())});
|
||||
}
|
||||
if (local_slam_result_callback_) {
|
||||
local_slam_result_callback_(
|
||||
trajectory_id_, matching_result->time, matching_result->local_pose,
|
||||
std::move(matching_result->range_data_in_local),
|
||||
std::move(insertion_result));
|
||||
}
|
||||
}
|
||||
|
||||
void AddSensorData(const std::string& sensor_id,
|
||||
const sensor::ImuData& imu_data) override {
|
||||
if (local_trajectory_builder_) {
|
||||
local_trajectory_builder_->AddImuData(imu_data);
|
||||
}
|
||||
pose_graph_->AddImuData(trajectory_id_, imu_data);
|
||||
}
|
||||
|
||||
void AddSensorData(const std::string& sensor_id,
|
||||
const sensor::OdometryData& odometry_data) override {
|
||||
CHECK(odometry_data.pose.IsValid()) << odometry_data.pose;
|
||||
if (local_trajectory_builder_) {
|
||||
local_trajectory_builder_->AddOdometryData(odometry_data);
|
||||
}
|
||||
pose_graph_->AddOdometryData(trajectory_id_, odometry_data);
|
||||
}
|
||||
|
||||
void AddSensorData(
|
||||
const std::string& sensor_id,
|
||||
const sensor::FixedFramePoseData& fixed_frame_pose) override {
|
||||
if (fixed_frame_pose.pose.has_value()) {
|
||||
CHECK(fixed_frame_pose.pose.value().IsValid())
|
||||
<< fixed_frame_pose.pose.value();
|
||||
}
|
||||
pose_graph_->AddFixedFramePoseData(trajectory_id_, fixed_frame_pose);
|
||||
}
|
||||
|
||||
void AddSensorData(const std::string& sensor_id,
|
||||
const sensor::LandmarkData& landmark_data) override {
|
||||
pose_graph_->AddLandmarkData(trajectory_id_, landmark_data);
|
||||
}
|
||||
|
||||
void AddLocalSlamResultData(std::unique_ptr<mapping::LocalSlamResultData>
|
||||
local_slam_result_data) override {
|
||||
CHECK(!local_trajectory_builder_) << "Can't add LocalSlamResultData with "
|
||||
"local_trajectory_builder_ present.";
|
||||
local_slam_result_data->AddToPoseGraph(trajectory_id_, pose_graph_);
|
||||
}
|
||||
|
||||
private:
|
||||
const int trajectory_id_;
|
||||
PoseGraph* const pose_graph_;
|
||||
std::unique_ptr<LocalTrajectoryBuilder> local_trajectory_builder_;
|
||||
LocalSlamResultCallback local_slam_result_callback_;
|
||||
};
|
||||
std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D(
|
||||
std::unique_ptr<mapping_3d::LocalTrajectoryBuilder>
|
||||
local_trajectory_builder,
|
||||
const int trajectory_id, mapping::PoseGraph3D* const pose_graph,
|
||||
const TrajectoryBuilderInterface::LocalSlamResultCallback&
|
||||
local_slam_result_callback);
|
||||
|
||||
} // namespace mapping
|
||||
} // namespace cartographer
|
||||
|
|
|
|||
|
|
@ -90,11 +90,9 @@ int MapBuilder::AddTrajectoryBuilder(
|
|||
trajectory_builders_.push_back(
|
||||
common::make_unique<CollatedTrajectoryBuilder>(
|
||||
sensor_collator_.get(), trajectory_id, expected_sensor_ids,
|
||||
common::make_unique<mapping::GlobalTrajectoryBuilder<
|
||||
mapping_3d::LocalTrajectoryBuilder,
|
||||
mapping_3d::proto::LocalTrajectoryBuilderOptions, PoseGraph3D>>(
|
||||
std::move(local_trajectory_builder), trajectory_id,
|
||||
pose_graph_3d_.get(), local_slam_result_callback)));
|
||||
CreateGlobalTrajectoryBuilder3D(std::move(local_trajectory_builder),
|
||||
trajectory_id, pose_graph_3d_.get(),
|
||||
local_slam_result_callback)));
|
||||
} else {
|
||||
std::unique_ptr<mapping_2d::LocalTrajectoryBuilder>
|
||||
local_trajectory_builder;
|
||||
|
|
@ -106,11 +104,9 @@ int MapBuilder::AddTrajectoryBuilder(
|
|||
trajectory_builders_.push_back(
|
||||
common::make_unique<CollatedTrajectoryBuilder>(
|
||||
sensor_collator_.get(), trajectory_id, expected_sensor_ids,
|
||||
common::make_unique<mapping::GlobalTrajectoryBuilder<
|
||||
mapping_2d::LocalTrajectoryBuilder,
|
||||
mapping_2d::proto::LocalTrajectoryBuilderOptions, PoseGraph2D>>(
|
||||
std::move(local_trajectory_builder), trajectory_id,
|
||||
pose_graph_2d_.get(), local_slam_result_callback)));
|
||||
CreateGlobalTrajectoryBuilder2D(std::move(local_trajectory_builder),
|
||||
trajectory_id, pose_graph_2d_.get(),
|
||||
local_slam_result_callback)));
|
||||
}
|
||||
if (trajectory_options.pure_localization()) {
|
||||
constexpr int kSubmapsToKeep = 3;
|
||||
|
|
|
|||
Loading…
Reference in New Issue