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Change submap_data_ in pose graph to MapById. (#593) 

* Change submap_data_ in pose graph to MapById.
master
Wolfgang Hess 2017-10-17 13:13:37 +02:00 committed by Christoph Schütte
parent fdda1dd091
commit e5f9815f67
10 changed files with 71 additions and 164 deletions
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55
cartographer/mapping/id.h
View File

@ -79,40 +79,6 @@ inline std::ostream& operator<<(std::ostream& os, const SubmapId& v) {
return os << "(" << v.trajectory_id << ", " << v.submap_index << ")";
}
template <typename ValueType, typename IdType>
class NestedVectorsById {
public:
// Appends data to a trajectory, creating trajectories as needed.
IdType Append(int trajectory_id, const ValueType& value) {
data_.resize(std::max<size_t>(data_.size(), trajectory_id + 1));
const IdType id{trajectory_id,
static_cast<int>(data_[trajectory_id].size())};
data_[trajectory_id].push_back(value);
return id;
}
const ValueType& at(const IdType& id) const {
return data_.at(id.trajectory_id).at(GetIndex(id));
}
ValueType& at(const IdType& id) {
return data_.at(id.trajectory_id).at(GetIndex(id));
}
int num_trajectories() const { return static_cast<int>(data_.size()); }
int num_indices(int trajectory_id) const {
return static_cast<int>(data_.at(trajectory_id).size());
}
// TODO(whess): Remove once no longer needed.
const std::vector<std::vector<ValueType>> data() const { return data_; }
private:
static int GetIndex(const NodeId& id) { return id.node_index; }
static int GetIndex(const SubmapId& id) { return id.submap_index; }
std::vector<std::vector<ValueType>> data_;
};
template <typename IteratorType>
class Range {
public:
@ -161,13 +127,15 @@ class MapById {
}
explicit ConstIterator(const MapById& map_by_id, const IdType& id)
: current_trajectory_(
map_by_id.trajectories_.find(id.trajectory_id)),
: current_trajectory_(map_by_id.trajectories_.find(id.trajectory_id)),
end_trajectory_(map_by_id.trajectories_.end()) {
CHECK(current_trajectory_ != end_trajectory_);
current_data_ =
current_trajectory_->second.data_.find(MapById::GetIndex(id));
CHECK(current_data_ != current_trajectory_->second.data_.end());
if (current_trajectory_ != end_trajectory_) {
current_data_ =
current_trajectory_->second.data_.find(MapById::GetIndex(id));
if (current_data_ == current_trajectory_->second.data_.end()) {
current_trajectory_ = end_trajectory_;
}
}
}
IdDataReference operator*() const {
@ -273,10 +241,9 @@ class MapById {
return IdType{trajectory_id, index};
}
// Returns an iterator to the element at 'id' which must exist.
ConstIterator FindChecked(const IdType& id) {
return ConstIterator(*this, id);
}
// Returns an iterator to the element at 'id' or the end iterator if it does
// not exist.
ConstIterator find(const IdType& id) { return ConstIterator(*this, id); }
// Inserts data (which must not exist already) into a trajectory.
void Insert(const IdType& id, const DataType& data) {

10
cartographer/mapping/id_test.cc
View File

@ -127,20 +127,22 @@ TEST(IdTest, InsertIntoMapById) {
EXPECT_EQ(2, map_by_id.SizeOfTrajectoryOrZero(42));
}
TEST(IdTest, FindCheckedNodeId) {
TEST(IdTest, FindNodeId) {
MapById<NodeId, int> map_by_id;
map_by_id.Append(42, 42);
map_by_id.Append(42, 43);
map_by_id.Append(42, 44);
CHECK_EQ(map_by_id.FindChecked(NodeId{42, 1})->data, 43);
CHECK_EQ(map_by_id.find(NodeId{42, 1})->data, 43);
EXPECT_TRUE(map_by_id.find(NodeId{42, 3}) == map_by_id.end());
}
TEST(IdTest, FindCheckedSubmapId) {
TEST(IdTest, FindSubmapId) {
MapById<SubmapId, int> map_by_id;
map_by_id.Append(42, 42);
map_by_id.Append(42, 43);
map_by_id.Append(42, 44);
CHECK_EQ(map_by_id.FindChecked(SubmapId{42, 1})->data, 43);
CHECK_EQ(map_by_id.find(SubmapId{42, 1})->data, 43);
EXPECT_TRUE(map_by_id.find(SubmapId{42, 3}) == map_by_id.end());
}
} // namespace

11
cartographer/mapping/map_builder.cc
View File

@ -125,20 +125,11 @@ string MapBuilder::SubmapToProto(const mapping::SubmapId& submap_id,
std::to_string(num_trajectory_builders()) + " trajectories.";
}
const int num_submaps =
sparse_pose_graph_->num_submaps(submap_id.trajectory_id);
if (submap_id.submap_index < 0 || submap_id.submap_index >= num_submaps) {
return "Requested submap " + std::to_string(submap_id.submap_index) +
" from trajectory " + std::to_string(submap_id.trajectory_id) +
" but there are only " + std::to_string(num_submaps) +
" submaps in this trajectory.";
}
const auto submap_data = sparse_pose_graph_->GetSubmapData(submap_id);
if (submap_data.submap == nullptr) {
return "Requested submap " + std::to_string(submap_id.submap_index) +
" from trajectory " + std::to_string(submap_id.trajectory_id) +
" but it has been trimmed.";
" but it does not exist: maybe it has been trimmed.";
}
submap_data.submap->ToResponseProto(submap_data.pose, response);
return "";

6
cartographer/mapping/sparse_pose_graph.h
View File

@ -99,11 +99,9 @@ class SparsePoseGraph {
// Gets the current trajectory clusters.
virtual std::vector<std::vector<int>> GetConnectedTrajectories() = 0;
// Return the number of submaps for the given 'trajectory_id'.
virtual int num_submaps(int trajectory_id) = 0;
// Returns the current optimized transform and submap itself for the given
// 'submap_id'.
// 'submap_id'. Returns 'nullptr' for the 'submap' member if the submap does
// not exist (anymore).
virtual SubmapData GetSubmapData(const SubmapId& submap_id) = 0;
// Returns data for all Submaps by trajectory.

3
cartographer/mapping/trajectory_node.cc
View File

@ -44,8 +44,7 @@ proto::TrajectoryNodeData ToProto(const TrajectoryNode::Data& constant_data) {
proto.add_rotational_scan_matcher_histogram(
constant_data.rotational_scan_matcher_histogram(i));
}
*proto.mutable_local_pose() =
transform::ToProto(constant_data.local_pose);
*proto.mutable_local_pose() = transform::ToProto(constant_data.local_pose);
return proto;
}

65
cartographer/mapping_2d/sparse_pose_graph.cc
View File

@ -107,12 +107,9 @@ void SparsePoseGraph::AddScan(
++num_trajectory_nodes_;
// Test if the 'insertion_submap.back()' is one we never saw before.
if (trajectory_id >= submap_data_.num_trajectories() ||
submap_data_.num_indices(trajectory_id) == 0 ||
submap_data_
.at(mapping::SubmapId{
trajectory_id, submap_data_.num_indices(trajectory_id) - 1})
.submap != insertion_submaps.back()) {
if (submap_data_.SizeOfTrajectoryOrZero(trajectory_id) == 0 ||
std::prev(submap_data_.EndOfTrajectory(trajectory_id))->data.submap !=
insertion_submaps.back()) {
// We grow 'submap_data_' as needed. This code assumes that the first
// time we see a new submap is as 'insertion_submaps.back()'.
const mapping::SubmapId submap_id =
@ -249,16 +246,10 @@ void SparsePoseGraph::ComputeConstraintsForScan(
Constraint::INTRA_SUBMAP});
}
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
for (int submap_index = 0;
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
const mapping::SubmapId submap_id{trajectory_id, submap_index};
if (submap_data_.at(submap_id).state == SubmapState::kFinished) {
CHECK_EQ(submap_data_.at(submap_id).node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id);
}
for (const auto& submap_id_data : submap_data_) {
if (submap_id_data.data.state == SubmapState::kFinished) {
CHECK_EQ(submap_id_data.data.node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id_data.id);
}
}
@ -489,8 +480,7 @@ void SparsePoseGraph::RunOptimization() {
const mapping::NodeId last_optimized_node_id =
std::prev(node_data.EndOfTrajectory(trajectory_id))->id;
auto node_it =
std::next(trajectory_nodes_.FindChecked(last_optimized_node_id));
auto node_it = std::next(trajectory_nodes_.find(last_optimized_node_id));
for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id);
++node_it) {
auto& mutable_trajectory_node = trajectory_nodes_.at(node_it->id);
@ -544,14 +534,6 @@ std::vector<std::vector<int>> SparsePoseGraph::GetConnectedTrajectories() {
return trajectory_connectivity_state_.Components();
}
int SparsePoseGraph::num_submaps(const int trajectory_id) {
common::MutexLocker locker(&mutex_);
if (trajectory_id >= submap_data_.num_trajectories()) {
return 0;
}
return submap_data_.num_indices(trajectory_id);
}
mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapData(
const mapping::SubmapId& submap_id) {
common::MutexLocker locker(&mutex_);
@ -561,20 +543,15 @@ mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapData(
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
SparsePoseGraph::GetAllSubmapData() {
common::MutexLocker locker(&mutex_);
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
all_submap_data(submap_data_.num_trajectories());
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
all_submap_data[trajectory_id].reserve(
submap_data_.num_indices(trajectory_id));
for (int submap_index = 0;
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
all_submap_data[trajectory_id].emplace_back(GetSubmapDataUnderLock(
mapping::SubmapId{trajectory_id, submap_index}));
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>> result;
for (const int trajectory_id : submap_data_.trajectory_ids()) {
result.resize(trajectory_id + 1);
for (const auto& submap_id_data : submap_data_.trajectory(trajectory_id)) {
result[trajectory_id].resize(submap_id_data.id.submap_index + 1);
result[trajectory_id].back() = GetSubmapDataUnderLock(submap_id_data.id);
}
}
return all_submap_data;
return result;
}
transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
@ -597,10 +574,11 @@ transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapDataUnderLock(
const mapping::SubmapId& submap_id) {
if (submap_data_.at(submap_id).state == SubmapState::kTrimmed) {
const auto it = submap_data_.find(submap_id);
if (it == submap_data_.end()) {
return {};
}
auto submap = submap_data_.at(submap_id).submap;
auto submap = it->data.submap;
if (optimized_submap_transforms_.Contains(submap_id)) {
// We already have an optimized pose.
return {submap, transform::Embed3D(
@ -666,11 +644,8 @@ void SparsePoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
}
// Mark the submap with 'submap_id' as trimmed and remove its data.
auto& submap_data = parent_->submap_data_.at(submap_id);
CHECK(submap_data.state == SubmapState::kFinished);
submap_data.state = SubmapState::kTrimmed;
CHECK(submap_data.submap != nullptr);
submap_data.submap.reset();
CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished);
parent_->submap_data_.Trim(submap_id);
parent_->constraint_builder_.DeleteScanMatcher(submap_id);
parent_->optimization_problem_.TrimSubmap(submap_id);

5
cartographer/mapping_2d/sparse_pose_graph.h
View File

@ -92,7 +92,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
void AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) override;
void RunFinalOptimization() override;
std::vector<std::vector<int>> GetConnectedTrajectories() override;
int num_submaps(int trajectory_id) EXCLUDES(mutex_) override;
mapping::SparsePoseGraph::SubmapData GetSubmapData(
const mapping::SubmapId& submap_id) EXCLUDES(mutex_) override;
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
@ -107,7 +106,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// The current state of the submap in the background threads. When this
// transitions to kFinished, all scans are tried to match against this submap.
// Likewise, all new scans are matched against submaps which are finished.
enum class SubmapState { kActive, kFinished, kTrimmed };
enum class SubmapState { kActive, kFinished };
struct SubmapData {
std::shared_ptr<const Submap> submap;
@ -205,7 +204,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// Submaps get assigned an ID and state as soon as they are seen, even
// before they take part in the background computations.
mapping::NestedVectorsById<SubmapData, mapping::SubmapId> submap_data_
mapping::MapById<mapping::SubmapId, SubmapData> submap_data_
GUARDED_BY(mutex_);
// Data that are currently being shown.

5
cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc
View File

@ -132,8 +132,9 @@ std::vector<std::pair<Eigen::VectorXf, float>> HistogramsAtAnglesFromNodes(
histograms_at_angles.emplace_back(
node.constant_data->rotational_scan_matcher_histogram,
transform::GetYaw(
node.global_pose * transform::Rigid3d::Rotation(
node.constant_data->gravity_alignment.inverse())));
node.global_pose *
transform::Rigid3d::Rotation(
node.constant_data->gravity_alignment.inverse())));
}
return histograms_at_angles;
}

70
cartographer/mapping_3d/sparse_pose_graph.cc
View File

@ -104,12 +104,9 @@ void SparsePoseGraph::AddScan(
++num_trajectory_nodes_;
// Test if the 'insertion_submap.back()' is one we never saw before.
if (trajectory_id >= submap_data_.num_trajectories() ||
submap_data_.num_indices(trajectory_id) == 0 ||
submap_data_
.at(mapping::SubmapId{
trajectory_id, submap_data_.num_indices(trajectory_id) - 1})
.submap != insertion_submaps.back()) {
if (submap_data_.SizeOfTrajectoryOrZero(trajectory_id) == 0 ||
std::prev(submap_data_.EndOfTrajectory(trajectory_id))->data.submap !=
insertion_submaps.back()) {
// We grow 'submap_data_' as needed. This code assumes that the first
// time we see a new submap is as 'insertion_submaps.back()'.
const mapping::SubmapId submap_id =
@ -185,7 +182,8 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
submap_data_.at(submap_id).node_ids) {
submap_nodes.push_back(mapping::TrajectoryNode{
trajectory_nodes_.at(submap_node_id).constant_data,
inverse_submap_pose * trajectory_nodes_.at(submap_node_id).global_pose});
inverse_submap_pose *
trajectory_nodes_.at(submap_node_id).global_pose});
}
const common::Time scan_time = GetLatestScanTime(node_id, submap_id);
@ -268,16 +266,10 @@ void SparsePoseGraph::ComputeConstraintsForScan(
Constraint::INTRA_SUBMAP});
}
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
for (int submap_index = 0;
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
const mapping::SubmapId submap_id{trajectory_id, submap_index};
if (submap_data_.at(submap_id).state == SubmapState::kFinished) {
CHECK_EQ(submap_data_.at(submap_id).node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id);
}
for (const auto& submap_id_data : submap_data_) {
if (submap_id_data.data.state == SubmapState::kFinished) {
CHECK_EQ(submap_id_data.data.node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id_data.id);
}
}
@ -524,9 +516,8 @@ void SparsePoseGraph::RunOptimization() {
const mapping::NodeId last_optimized_node_id =
std::prev(node_data.EndOfTrajectory(trajectory_id))->id;
auto node_it =
std::next(trajectory_nodes_.FindChecked(last_optimized_node_id));
for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id);
auto node_it = std::next(trajectory_nodes_.find(last_optimized_node_id));
for (; node_it != trajectory_nodes_.EndOfTrajectory(trajectory_id);
++node_it) {
auto& mutable_trajectory_node = trajectory_nodes_.at(node_it->id);
mutable_trajectory_node.global_pose =
@ -572,14 +563,6 @@ std::vector<std::vector<int>> SparsePoseGraph::GetConnectedTrajectories() {
return trajectory_connectivity_state_.Components();
}
int SparsePoseGraph::num_submaps(const int trajectory_id) {
common::MutexLocker locker(&mutex_);
if (trajectory_id >= submap_data_.num_trajectories()) {
return 0;
}
return submap_data_.num_indices(trajectory_id);
}
mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapData(
const mapping::SubmapId& submap_id) {
common::MutexLocker locker(&mutex_);
@ -589,20 +572,15 @@ mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapData(
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
SparsePoseGraph::GetAllSubmapData() {
common::MutexLocker locker(&mutex_);
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
all_submap_data(submap_data_.num_trajectories());
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
all_submap_data[trajectory_id].reserve(
submap_data_.num_indices(trajectory_id));
for (int submap_index = 0;
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
all_submap_data[trajectory_id].emplace_back(GetSubmapDataUnderLock(
mapping::SubmapId{trajectory_id, submap_index}));
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>> result;
for (const int trajectory_id : submap_data_.trajectory_ids()) {
result.resize(trajectory_id + 1);
for (const auto& submap_id_data : submap_data_.trajectory(trajectory_id)) {
result[trajectory_id].resize(submap_id_data.id.submap_index + 1);
result[trajectory_id].back() = GetSubmapDataUnderLock(submap_id_data.id);
}
}
return all_submap_data;
return result;
}
transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
@ -624,10 +602,11 @@ transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapDataUnderLock(
const mapping::SubmapId& submap_id) {
if (submap_data_.at(submap_id).state == SubmapState::kTrimmed) {
const auto it = submap_data_.find(submap_id);
if (it == submap_data_.end()) {
return {};
}
auto submap = submap_data_.at(submap_id).submap;
auto submap = it->data.submap;
if (optimized_submap_transforms_.Contains(submap_id)) {
// We already have an optimized pose.
return {submap, optimized_submap_transforms_.at(submap_id).pose};
@ -692,11 +671,8 @@ void SparsePoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
}
// Mark the submap with 'submap_id' as trimmed and remove its data.
auto& submap_data = parent_->submap_data_.at(submap_id);
CHECK(submap_data.state == SubmapState::kFinished);
submap_data.state = SubmapState::kTrimmed;
CHECK(submap_data.submap != nullptr);
submap_data.submap.reset();
CHECK(parent_->submap_data_.at(submap_id).state == SubmapState::kFinished);
parent_->submap_data_.Trim(submap_id);
parent_->constraint_builder_.DeleteScanMatcher(submap_id);
parent_->optimization_problem_.TrimSubmap(submap_id);

5
cartographer/mapping_3d/sparse_pose_graph.h
View File

@ -92,7 +92,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
void AddTrimmer(std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) override;
void RunFinalOptimization() override;
std::vector<std::vector<int>> GetConnectedTrajectories() override;
int num_submaps(int trajectory_id) EXCLUDES(mutex_) override;
mapping::SparsePoseGraph::SubmapData GetSubmapData(
const mapping::SubmapId& submap_id) EXCLUDES(mutex_) override;
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
@ -107,7 +106,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// The current state of the submap in the background threads. When this
// transitions to kFinished, all scans are tried to match against this submap.
// Likewise, all new scans are matched against submaps which are finished.
enum class SubmapState { kActive, kFinished, kTrimmed };
enum class SubmapState { kActive, kFinished };
struct SubmapData {
std::shared_ptr<const Submap> submap;
@ -209,7 +208,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// Submaps get assigned an ID and state as soon as they are seen, even
// before they take part in the background computations.
mapping::NestedVectorsById<SubmapData, mapping::SubmapId> submap_data_
mapping::MapById<mapping::SubmapId, SubmapData> submap_data_
GUARDED_BY(mutex_);
// Data that are currently being shown.