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Move the OrderedMultiQueue implementation out of the header. (#152)

master
Wolfgang Hess 2016-12-06 14:09:44 +01:00 committed by GitHub
parent 0e826377c4
commit f3526bd252
8 changed files with 226 additions and 176 deletions
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14
cartographer/mapping/trajectory_connectivity_test.cc
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@ -110,9 +110,11 @@ TEST_F(TrajectoryConnectivityTest, ConnectedComponents) {
five_cluster = &connections[0];
}
for (int i = 0; i <= 9; ++i) {
EXPECT_EQ(i <= 4, std::find(zero_cluster->begin(), zero_cluster->end(),
EXPECT_EQ(i <= 4,
std::find(zero_cluster->begin(), zero_cluster->end(),
trajectory(i)) != zero_cluster->end());
EXPECT_EQ(i > 4, std::find(five_cluster->begin(), five_cluster->end(),
EXPECT_EQ(i > 4,
std::find(five_cluster->begin(), five_cluster->end(),
trajectory(i)) != five_cluster->end());
}
}
@ -121,11 +123,13 @@ TEST_F(TrajectoryConnectivityTest, ConnectionCount) {
for (int i = 0; i < 10; ++i) {
trajectory_connectivity_.Connect(trajectory(0), trajectory(1));
// Permute the arguments to check invariance.
EXPECT_EQ(i + 1, trajectory_connectivity_.ConnectionCount(trajectory(1),
trajectory(0)));
EXPECT_EQ(
i + 1,
trajectory_connectivity_.ConnectionCount(trajectory(1), trajectory(0)));
}
for (int i = 1; i < 9; ++i) {
EXPECT_EQ(0, trajectory_connectivity_.ConnectionCount(trajectory(i),
EXPECT_EQ(0,
trajectory_connectivity_.ConnectionCount(trajectory(i),
trajectory(i + 1)));
}
}

3
cartographer/mapping_2d/ray_casting.cc
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@ -175,7 +175,8 @@ void CastRays(const sensor::LaserFan& laser_fan, const MapLimits& limits,
// Finally, compute and add empty rays based on missing echos in the scan.
for (const Eigen::Vector3f& missing_echo : laser_fan.misses) {
CastRay(begin, superscaled_limits.GetXYIndexOfCellContainingPoint(
CastRay(begin,
superscaled_limits.GetXYIndexOfCellContainingPoint(
missing_echo.x(), missing_echo.y()),
miss_visitor);
}

7
cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc
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@ -75,10 +75,11 @@ TEST_F(InterpolatedGridTest, MonotonicBehaviorBetweenGridPointsInX) {
for (double sample = kSampleStep;
sample < hybrid_grid_.resolution() - 2 * kSampleStep;
sample += kSampleStep) {
EXPECT_LT(0., grid_difference * (interpolated_grid_.GetProbability(
EXPECT_LT(0.,
grid_difference *
(interpolated_grid_.GetProbability(
x + sample + kSampleStep, y, z) -
interpolated_grid_.GetProbability(
x + sample, y, z)));
interpolated_grid_.GetProbability(x + sample, y, z)));
}
}
}

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

@ -61,8 +61,9 @@ TEST(PrecomputedGridGeneratorTest, TestAgainstNaiveAlgorithm) {
for (int dx = 0; dx < width; ++dx) {
for (int dy = 0; dy < width; ++dy) {
for (int dz = 0; dz < width; ++dz) {
max_probability = std::max(
max_probability, hybrid_grid.GetProbability(
max_probability =
std::max(max_probability,
hybrid_grid.GetProbability(
Eigen::Array3i(x + dx, y + dy, z + dz)));
}
}

10
cartographer/mapping_3d/sparse_pose_graph.cc
View File

@ -214,12 +214,12 @@ void SparsePoseGraph::ComputeConstraintsForScan(
// Unchanged covariance as (submap <- map) is a translation.
const transform::Rigid3d constraint_transform =
submap->local_pose().inverse() * pose;
constraints_.push_back(
Constraint{submap_index,
constraints_.push_back(Constraint{
submap_index,
scan_index,
{constraint_transform,
common::ComputeSpdMatrixSqrtInverse(
covariance, options_.constraint_builder_options()
{constraint_transform, common::ComputeSpdMatrixSqrtInverse(
covariance,
options_.constraint_builder_options()
.lower_covariance_eigenvalue_bound())},
Constraint::INTRA_SUBMAP});
}

3
cartographer/sensor/CMakeLists.txt
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@ -78,6 +78,9 @@ google_library(sensor_laser
)
google_library(sensor_ordered_multi_queue
USES_GLOG
SRCS
ordered_multi_queue.cc
HDRS
ordered_multi_queue.h
DEPENDS

173
cartographer/sensor/ordered_multi_queue.cc Normal file
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@ -0,0 +1,173 @@
/*
* Copyright 2016 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/sensor/ordered_multi_queue.h"
#include <algorithm>
#include <sstream>
#include <vector>
#include "cartographer/common/make_unique.h"
#include "glog/logging.h"
namespace cartographer {
namespace sensor {
namespace {
// Number of items that can be queued up before we log which queues are waiting
// for data.
const int kMaxQueueSize = 500;
inline std::ostream& operator<<(std::ostream& out, const QueueKey& key) {
return out << '(' << key.trajectory_id << ", " << key.sensor_id << ')';
}
} // namespace
OrderedMultiQueue::OrderedMultiQueue() {}
OrderedMultiQueue::~OrderedMultiQueue() {
for (auto& entry : queues_) {
CHECK(entry.second.finished);
}
}
void OrderedMultiQueue::AddQueue(const QueueKey& queue_key, Callback callback) {
CHECK_EQ(queues_.count(queue_key), 0);
queues_[queue_key].callback = callback;
}
void OrderedMultiQueue::MarkQueueAsFinished(const QueueKey& queue_key) {
auto it = queues_.find(queue_key);
CHECK(it != queues_.end()) << "Did not find '" << queue_key << "'.";
auto& queue = it->second;
CHECK(!queue.finished);
queue.finished = true;
Dispatch();
}
void OrderedMultiQueue::Add(const QueueKey& queue_key,
std::unique_ptr<Data> data) {
auto it = queues_.find(queue_key);
if (it == queues_.end()) {
LOG_EVERY_N(WARNING, 1000) << "Ignored data for queue: '" << queue_key
<< "'";
return;
}
it->second.queue.Push(std::move(data));
Dispatch();
}
void OrderedMultiQueue::Flush() {
std::vector<QueueKey> unfinished_queues;
for (auto& entry : queues_) {
if (!entry.second.finished) {
unfinished_queues.push_back(entry.first);
}
}
for (auto& unfinished_queue : unfinished_queues) {
MarkQueueAsFinished(unfinished_queue);
}
}
void OrderedMultiQueue::Dispatch() {
while (true) {
Queue* next_queue = nullptr;
const Data* next_data = nullptr;
for (auto it = queues_.begin(); it != queues_.end();) {
auto& queue = it->second.queue;
const auto* data = queue.Peek<Data>();
if (data == nullptr) {
if (it->second.finished) {
queues_.erase(it++);
continue;
}
CannotMakeProgress();
return;
}
if (next_data == nullptr ||
std::forward_as_tuple(data->time, it->first) <
std::forward_as_tuple(next_data->time, it->first)) {
next_data = data;
next_queue = &it->second;
}
CHECK_LE(last_dispatched_time_, next_data->time)
<< "Non-sorted data added to queue: '" << it->first << "'";
++it;
}
if (next_data == nullptr) {
CHECK(queues_.empty());
return;
}
// If we haven't dispatched any data yet, fast forward all queues until a
// common start time has been reached.
if (common_start_time_ == common::Time::min()) {
for (auto& entry : queues_) {
common_start_time_ =
std::max(common_start_time_, entry.second.queue.Peek<Data>()->time);
}
LOG(INFO) << "All sensor data is available starting at '"
<< common_start_time_ << "'.";
}
if (next_data->time >= common_start_time_) {
// Happy case, we are beyond the 'common_start_time_' already.
last_dispatched_time_ = next_data->time;
next_queue->callback(next_queue->queue.Pop());
} else if (next_queue->queue.Size() < 2) {
if (!next_queue->finished) {
// We cannot decide whether to drop or dispatch this yet.
return;
}
last_dispatched_time_ = next_data->time;
next_queue->callback(next_queue->queue.Pop());
} else {
// We take a peek at the time after next data. If it also is not beyond
// 'common_start_time_' we drop 'next_data', otherwise we just found the
// first packet to dispatch from this queue.
std::unique_ptr<Data> next_data_owner = next_queue->queue.Pop();
if (next_queue->queue.Peek<Data>()->time > common_start_time_) {
last_dispatched_time_ = next_data->time;
next_queue->callback(std::move(next_data_owner));
}
}
}
}
void OrderedMultiQueue::CannotMakeProgress() {
for (auto& entry : queues_) {
if (entry.second.queue.Size() > kMaxQueueSize) {
LOG_EVERY_N(WARNING, 60) << "Queues waiting for data: "
<< EmptyQueuesDebugString();
return;
}
}
}
string OrderedMultiQueue::EmptyQueuesDebugString() {
std::ostringstream empty_queues;
for (auto& entry : queues_) {
if (entry.second.queue.Size() == 0) {
empty_queues << (empty_queues.tellp() > 0 ? ", " : "") << entry.first;
}
}
return empty_queues.str();
}
} // namespace sensor
} // namespace cartographer

169
cartographer/sensor/ordered_multi_queue.h
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@ -17,14 +17,13 @@
#ifndef CARTOGRAPHER_SENSOR_ORDERED_MULTI_QUEUE_H_
#define CARTOGRAPHER_SENSOR_ORDERED_MULTI_QUEUE_H_
#include <algorithm>
#include <functional>
#include <map>
#include <memory>
#include <set>
#include <sstream>
#include <string>
#include <tuple>
#include "cartographer/common/blocking_queue.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/common/port.h"
#include "cartographer/common/time.h"
#include "cartographer/sensor/data.h"
@ -32,10 +31,6 @@
namespace cartographer {
namespace sensor {
// Number of items that can be queued up before we log which queues are waiting
// for data.
const int kMaxQueueSize = 500;
struct QueueKey {
int trajectory_id;
string sensor_id;
@ -46,10 +41,6 @@ struct QueueKey {
}
};
inline std::ostream& operator<<(std::ostream& out, const QueueKey& key) {
return out << '(' << key.trajectory_id << ", " << key.sensor_id << ')';
}
// Maintains multiple queues of sorted sensor data and dispatches it in merge
// sorted order. It will wait to see at least one value for each unfinished
// queue before dispatching the next time ordered value across all queues.
@ -59,50 +50,24 @@ class OrderedMultiQueue {
public:
using Callback = std::function<void(std::unique_ptr<Data>)>;
OrderedMultiQueue() {}
OrderedMultiQueue();
~OrderedMultiQueue();
~OrderedMultiQueue() {
for (auto& entry : queues_) {
CHECK(entry.second.finished);
}
}
// Adds a new queue with key 'queue_key' which must not already exist.
// 'callback' will be called whenever data from this queue can be dispatched.
void AddQueue(const QueueKey& queue_key, Callback callback);
void AddQueue(const QueueKey& queue_key, Callback callback) {
CHECK(FindOrNull(queue_key) == nullptr);
queues_[queue_key].callback = callback;
}
// Marks a queue as finished, i.e. no further data can be added. The queue
// will be removed once the last piece of data from it has been dispatched.
void MarkQueueAsFinished(const QueueKey& queue_key);
void MarkQueueAsFinished(const QueueKey& queue_key) {
auto& queue = FindOrDie(queue_key);
CHECK(!queue.finished);
queue.finished = true;
Dispatch();
}
void Add(const QueueKey& queue_key, std::unique_ptr<Data> data) {
auto* queue = FindOrNull(queue_key);
if (queue == nullptr) {
LOG_EVERY_N(WARNING, 1000) << "Ignored data for queue: '" << queue_key
<< "'";
return;
}
queue->queue.Push(std::move(data));
Dispatch();
}
// Adds 'data' to a queue with the given 'queue_key'. Data must be added
// sorted per queue.
void Add(const QueueKey& queue_key, std::unique_ptr<Data> data);
// Dispatches all remaining values in sorted order and removes the underlying
// queues.
void Flush() {
std::vector<QueueKey> unfinished_queues;
for (auto& entry : queues_) {
if (!entry.second.finished) {
unfinished_queues.push_back(entry.first);
}
}
for (auto& unfinished_queue : unfinished_queues) {
MarkQueueAsFinished(unfinished_queue);
}
}
void Flush();
private:
struct Queue {
@ -111,107 +76,9 @@ class OrderedMultiQueue {
bool finished = false;
};
// Returns the queue with 'key' or LOG(FATAL).
Queue& FindOrDie(const QueueKey& key) {
auto it = queues_.find(key);
CHECK(it != queues_.end()) << "Did not find '" << key << "'.";
return it->second;
}
// Returns the queue with 'key' or nullptr.
Queue* FindOrNull(const QueueKey& key) {
auto it = queues_.find(key);
if (it == queues_.end()) {
return nullptr;
}
return &it->second;
}
void Dispatch() {
while (true) {
Queue* next_queue = nullptr;
const Data* next_data = nullptr;
for (auto it = queues_.begin(); it != queues_.end();) {
auto& queue = it->second.queue;
const auto* data = queue.Peek<Data>();
if (data == nullptr) {
if (it->second.finished) {
queues_.erase(it++);
continue;
}
CannotMakeProgress();
return;
}
if (next_data == nullptr ||
std::forward_as_tuple(data->time, it->first) <
std::forward_as_tuple(next_data->time, it->first)) {
next_data = data;
next_queue = &it->second;
}
CHECK_LE(last_dispatched_time_, next_data->time)
<< "Non-sorted data added to queue: '" << it->first << "'";
++it;
}
if (next_data == nullptr) {
CHECK(queues_.empty());
return;
}
// If we haven't dispatched any data yet, fast forward all queues until a
// common start time has been reached.
if (common_start_time_ == common::Time::min()) {
for (auto& entry : queues_) {
common_start_time_ = std::max(common_start_time_,
entry.second.queue.Peek<Data>()->time);
}
LOG(INFO) << "All sensor data is available starting at '"
<< common_start_time_ << "'.";
}
if (next_data->time >= common_start_time_) {
// Happy case, we are beyond the 'common_start_time_' already.
last_dispatched_time_ = next_data->time;
next_queue->callback(next_queue->queue.Pop());
} else if (next_queue->queue.Size() < 2) {
if (!next_queue->finished) {
// We cannot decide whether to drop or dispatch this yet.
return;
}
last_dispatched_time_ = next_data->time;
next_queue->callback(next_queue->queue.Pop());
} else {
// We take a peek at the time after next data. If it also is not beyond
// 'common_start_time_' we drop 'next_data', otherwise we just found the
// first packet to dispatch from this queue.
std::unique_ptr<Data> next_data_owner = next_queue->queue.Pop();
if (next_queue->queue.Peek<Data>()->time > common_start_time_) {
last_dispatched_time_ = next_data->time;
next_queue->callback(std::move(next_data_owner));
}
}
}
}
// Called when not all necessary queues are filled to dispatch messages.
void CannotMakeProgress() {
for (auto& entry : queues_) {
if (entry.second.queue.Size() > kMaxQueueSize) {
LOG_EVERY_N(WARNING, 60) << "Queues waiting for data: "
<< EmptyQueuesDebugString();
return;
}
}
}
string EmptyQueuesDebugString() {
std::ostringstream empty_queues;
for (auto& entry : queues_) {
if (entry.second.queue.Size() == 0) {
empty_queues << (empty_queues.tellp() > 0 ? ", " : "") << entry.first;
}
}
return empty_queues.str();
}
void Dispatch();
void CannotMakeProgress();
string EmptyQueuesDebugString();
// Used to verify that values are dispatched in sorted order.
common::Time last_dispatched_time_ = common::Time::min();