parent
681cff0435
commit
d306eaddda
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@ -185,6 +185,11 @@ google_binary(cartographer_migrate_serialization_format
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cartographer/io/migrate_serialization_format_main.cc
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cartographer/io/migrate_serialization_format_main.cc
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)
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)
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google_binary(cartographer_pbstream_info
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SRCS
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cartographer/io/pbstream_info_main.cc
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)
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if(${BUILD_GRPC})
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if(${BUILD_GRPC})
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google_binary(cartographer_grpc_server
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google_binary(cartographer_grpc_server
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SRCS
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SRCS
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@ -0,0 +1,122 @@
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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/proto_stream_deserializer.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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DEFINE_string(pbstream_filename, "", "Proto stream file.");
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DEFINE_bool(all_debug_strings, false,
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"Print debug strings of all serialized data.");
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namespace cartographer {
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namespace mapping {
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namespace {
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void Run(const std::string& pbstream_filename, bool all_debug_strings) {
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LOG(INFO) << "Reading pbstream file from '" << pbstream_filename << "'...";
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io::ProtoStreamReader reader(pbstream_filename);
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io::ProtoStreamDeserializer deserializer(&reader);
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const auto header = deserializer.header();
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LOG(INFO) << "Header: " << header.DebugString();
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for (const proto::TrajectoryBuilderOptionsWithSensorIds& trajectory_options :
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deserializer.all_trajectory_builder_options()
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.options_with_sensor_ids()) {
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LOG(INFO) << "Trajectory options: " << trajectory_options.DebugString();
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}
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const proto::PoseGraph pose_graph = deserializer.pose_graph();
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for (const proto::Trajectory& trajectory : pose_graph.trajectory()) {
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LOG(INFO) << "Trajectory id: " << trajectory.trajectory_id()
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<< " has #nodes " << trajectory.node_size() << " has #submaps "
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<< trajectory.submap_size();
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}
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if (all_debug_strings) {
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LOG(INFO) << "Pose graph: " << pose_graph.DebugString();
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}
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const std::map<proto::SerializedData::DataCase, std::string>
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data_case_to_name = {
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{proto::SerializedData::kSubmap, "submap"},
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{proto::SerializedData::kNode, "node"},
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{proto::SerializedData::kTrajectoryData, "trajectory_data"},
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{proto::SerializedData::kImuData, "imu_data"},
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{proto::SerializedData::kOdometryData, "odometry_data"},
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{proto::SerializedData::kFixedFramePoseData, "fixed_frame_pose_data"},
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{proto::SerializedData::kLandmarkData, "landmark_data"},
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};
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// Initialize so zero counts of these are also reported.
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std::map<std::string, int> data_counts = {
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{"submap_2d", 0},
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{"submap_2d_grid", 0},
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{"submap_3d", 0},
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{"submap_3d_high_resolution_hybrid_grid", 0},
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};
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proto::SerializedData proto;
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while (deserializer.ReadNextSerializedData(&proto)) {
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if (all_debug_strings) {
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LOG(INFO) << "Serialized data: " << proto.DebugString();
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}
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auto it = data_case_to_name.find(proto.data_case());
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if (it == data_case_to_name.end()) {
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LOG(WARNING) << "Skipping unknown message type in stream: "
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<< proto.GetTypeName();
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}
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const std::string& data_name = it->second;
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++data_counts[data_name];
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if (proto.data_case() == proto::SerializedData::kSubmap) {
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if (proto.mutable_submap()->has_submap_2d()) {
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++data_counts["submap_2d"];
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if (proto.mutable_submap()->mutable_submap_2d()->has_grid()) {
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++data_counts["submap_2d_grid"];
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}
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}
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if (proto.mutable_submap()->has_submap_3d()) {
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++data_counts["submap_3d"];
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if (proto.mutable_submap()
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->mutable_submap_3d()
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->has_high_resolution_hybrid_grid()) {
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++data_counts["submap_3d_high_resolution_hybrid_grid"];
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}
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}
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}
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}
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for (const auto& entry : data_counts) {
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LOG(INFO) << "SerializedData package contains #" << entry.first << ": "
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<< entry.second;
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}
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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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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"Reads a pbstream file and summarizes its contents.\n");
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (FLAGS_pbstream_filename.empty()) {
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google::ShowUsageWithFlagsRestrict(argv[0], "pbstream_info");
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return EXIT_FAILURE;
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}
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::cartographer::mapping::Run(FLAGS_pbstream_filename,
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FLAGS_all_debug_strings);
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}
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