407 lines
17 KiB
C++
407 lines
17 KiB
C++
/*
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* Copyright 2016 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/mapping/map_builder.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
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#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
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#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
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#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
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#include "cartographer/mapping/internal/collated_trajectory_builder.h"
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#include "cartographer/mapping/internal/global_trajectory_builder.h"
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#include "cartographer/sensor/internal/collator.h"
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#include "cartographer/sensor/internal/trajectory_collator.h"
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#include "cartographer/sensor/internal/voxel_filter.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace mapping {
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proto::MapBuilderOptions CreateMapBuilderOptions(
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common::LuaParameterDictionary* const parameter_dictionary) {
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proto::MapBuilderOptions options;
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options.set_use_trajectory_builder_2d(
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parameter_dictionary->GetBool("use_trajectory_builder_2d"));
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options.set_use_trajectory_builder_3d(
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parameter_dictionary->GetBool("use_trajectory_builder_3d"));
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options.set_num_background_threads(
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parameter_dictionary->GetNonNegativeInt("num_background_threads"));
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*options.mutable_pose_graph_options() = CreatePoseGraphOptions(
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parameter_dictionary->GetDictionary("pose_graph").get());
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CHECK_NE(options.use_trajectory_builder_2d(),
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options.use_trajectory_builder_3d());
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return options;
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}
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MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
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: options_(options), thread_pool_(options.num_background_threads()) {
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if (options.use_trajectory_builder_2d()) {
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pose_graph_ = common::make_unique<PoseGraph2D>(
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options_.pose_graph_options(), &thread_pool_);
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}
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if (options.use_trajectory_builder_3d()) {
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pose_graph_ = common::make_unique<PoseGraph3D>(
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options_.pose_graph_options(), &thread_pool_);
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}
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if (options.collate_by_trajectory()) {
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sensor_collator_ = common::make_unique<sensor::TrajectoryCollator>();
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} else {
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sensor_collator_ = common::make_unique<sensor::Collator>();
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}
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}
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int MapBuilder::AddTrajectoryBuilder(
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const std::set<SensorId>& expected_sensor_ids,
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const proto::TrajectoryBuilderOptions& trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) {
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const int trajectory_id = trajectory_builders_.size();
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if (options_.use_trajectory_builder_3d()) {
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std::unique_ptr<LocalTrajectoryBuilder3D> local_trajectory_builder;
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if (trajectory_options.has_trajectory_builder_3d_options()) {
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local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder3D>(
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trajectory_options.trajectory_builder_3d_options());
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}
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DCHECK(dynamic_cast<PoseGraph3D*>(pose_graph_.get()));
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trajectory_builders_.push_back(
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common::make_unique<CollatedTrajectoryBuilder>(
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sensor_collator_.get(), trajectory_id, expected_sensor_ids,
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CreateGlobalTrajectoryBuilder3D(
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std::move(local_trajectory_builder), trajectory_id,
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static_cast<PoseGraph3D*>(pose_graph_.get()),
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local_slam_result_callback)));
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} else {
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std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder;
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if (trajectory_options.has_trajectory_builder_2d_options()) {
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local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder2D>(
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trajectory_options.trajectory_builder_2d_options());
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}
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DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph_.get()));
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trajectory_builders_.push_back(
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common::make_unique<CollatedTrajectoryBuilder>(
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sensor_collator_.get(), trajectory_id, expected_sensor_ids,
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CreateGlobalTrajectoryBuilder2D(
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std::move(local_trajectory_builder), trajectory_id,
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static_cast<PoseGraph2D*>(pose_graph_.get()),
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local_slam_result_callback)));
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}
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if (trajectory_options.pure_localization()) {
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constexpr int kSubmapsToKeep = 3;
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pose_graph_->AddTrimmer(common::make_unique<PureLocalizationTrimmer>(
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trajectory_id, kSubmapsToKeep));
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}
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if (trajectory_options.has_initial_trajectory_pose()) {
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const auto& initial_trajectory_pose =
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trajectory_options.initial_trajectory_pose();
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pose_graph_->SetInitialTrajectoryPose(
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trajectory_id, initial_trajectory_pose.to_trajectory_id(),
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transform::ToRigid3(initial_trajectory_pose.relative_pose()),
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common::FromUniversal(initial_trajectory_pose.timestamp()));
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}
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proto::TrajectoryBuilderOptionsWithSensorIds options_with_sensor_ids_proto;
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for (const auto& sensor_id : expected_sensor_ids) {
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*options_with_sensor_ids_proto.add_sensor_id() = ToProto(sensor_id);
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}
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*options_with_sensor_ids_proto.mutable_trajectory_builder_options() =
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trajectory_options;
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all_trajectory_builder_options_.push_back(options_with_sensor_ids_proto);
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CHECK_EQ(trajectory_builders_.size(), all_trajectory_builder_options_.size());
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return trajectory_id;
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}
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int MapBuilder::AddTrajectoryForDeserialization(
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const proto::TrajectoryBuilderOptionsWithSensorIds&
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options_with_sensor_ids_proto) {
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const int trajectory_id = trajectory_builders_.size();
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trajectory_builders_.emplace_back();
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all_trajectory_builder_options_.push_back(options_with_sensor_ids_proto);
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CHECK_EQ(trajectory_builders_.size(), all_trajectory_builder_options_.size());
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return trajectory_id;
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}
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void MapBuilder::FinishTrajectory(const int trajectory_id) {
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sensor_collator_->FinishTrajectory(trajectory_id);
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pose_graph_->FinishTrajectory(trajectory_id);
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}
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std::string MapBuilder::SubmapToProto(
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const mapping::SubmapId& submap_id,
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proto::SubmapQuery::Response* const response) {
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if (submap_id.trajectory_id < 0 ||
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submap_id.trajectory_id >= num_trajectory_builders()) {
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return "Requested submap from trajectory " +
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std::to_string(submap_id.trajectory_id) + " but there are only " +
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std::to_string(num_trajectory_builders()) + " trajectories.";
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}
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const auto submap_data = pose_graph_->GetSubmapData(submap_id);
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if (submap_data.submap == nullptr) {
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return "Requested submap " + std::to_string(submap_id.submap_index) +
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" from trajectory " + std::to_string(submap_id.trajectory_id) +
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" but it does not exist: maybe it has been trimmed.";
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}
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submap_data.submap->ToResponseProto(submap_data.pose, response);
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return "";
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}
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void MapBuilder::SerializeState(io::ProtoStreamWriterInterface* const writer) {
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// We serialize the pose graph followed by all the data referenced in it.
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writer->WriteProto(pose_graph_->ToProto());
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// Serialize trajectory builder options.
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{
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proto::AllTrajectoryBuilderOptions all_builder_options_proto;
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for (const auto& options_with_sensor_ids :
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all_trajectory_builder_options_) {
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*all_builder_options_proto.add_options_with_sensor_ids() =
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options_with_sensor_ids;
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}
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CHECK_EQ(all_trajectory_builder_options_.size(),
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all_builder_options_proto.options_with_sensor_ids_size());
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writer->WriteProto(all_builder_options_proto);
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}
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// Next we serialize all submap data.
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{
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for (const auto& submap_id_data : pose_graph_->GetAllSubmapData()) {
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proto::SerializedData proto;
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auto* const submap_proto = proto.mutable_submap();
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submap_proto->mutable_submap_id()->set_trajectory_id(
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submap_id_data.id.trajectory_id);
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submap_proto->mutable_submap_id()->set_submap_index(
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submap_id_data.id.submap_index);
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submap_id_data.data.submap->ToProto(
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submap_proto, true /* include_probability_grid_data */);
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writer->WriteProto(proto);
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}
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}
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// Next we serialize all node data.
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{
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for (const auto& node_id_data : pose_graph_->GetTrajectoryNodes()) {
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proto::SerializedData proto;
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auto* const node_proto = proto.mutable_node();
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node_proto->mutable_node_id()->set_trajectory_id(
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node_id_data.id.trajectory_id);
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node_proto->mutable_node_id()->set_node_index(node_id_data.id.node_index);
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*node_proto->mutable_node_data() =
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ToProto(*node_id_data.data.constant_data);
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writer->WriteProto(proto);
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}
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}
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// Next we serialize IMU data from the pose graph.
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{
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const auto all_imu_data = pose_graph_->GetImuData();
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for (const int trajectory_id : all_imu_data.trajectory_ids()) {
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for (const auto& imu_data : all_imu_data.trajectory(trajectory_id)) {
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proto::SerializedData proto;
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auto* const imu_data_proto = proto.mutable_imu_data();
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imu_data_proto->set_trajectory_id(trajectory_id);
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*imu_data_proto->mutable_imu_data() = sensor::ToProto(imu_data);
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writer->WriteProto(proto);
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}
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}
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}
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// Next we serialize odometry data from the pose graph.
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{
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const auto all_odometry_data = pose_graph_->GetOdometryData();
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for (const int trajectory_id : all_odometry_data.trajectory_ids()) {
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for (const auto& odometry_data :
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all_odometry_data.trajectory(trajectory_id)) {
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proto::SerializedData proto;
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auto* const odometry_data_proto = proto.mutable_odometry_data();
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odometry_data_proto->set_trajectory_id(trajectory_id);
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*odometry_data_proto->mutable_odometry_data() =
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sensor::ToProto(odometry_data);
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writer->WriteProto(proto);
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}
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}
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}
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// Next we serialize all fixed frame pose data from the pose graph.
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{
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const auto all_fixed_frame_pose_data = pose_graph_->GetFixedFramePoseData();
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for (const int trajectory_id : all_fixed_frame_pose_data.trajectory_ids()) {
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for (const auto& fixed_frame_pose_data :
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all_fixed_frame_pose_data.trajectory(trajectory_id)) {
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proto::SerializedData proto;
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auto* const fixed_frame_pose_data_proto =
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proto.mutable_fixed_frame_pose_data();
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fixed_frame_pose_data_proto->set_trajectory_id(trajectory_id);
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*fixed_frame_pose_data_proto->mutable_fixed_frame_pose_data() =
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sensor::ToProto(fixed_frame_pose_data);
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writer->WriteProto(proto);
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}
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}
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}
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// Next we serialize all trajectory data.
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{
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const auto all_trajectory_data = pose_graph_->GetTrajectoryData();
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for (const auto& trajectory_data : all_trajectory_data) {
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proto::SerializedData proto;
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auto* const trajectory_data_proto = proto.mutable_trajectory_data();
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trajectory_data_proto->set_trajectory_id(trajectory_data.first);
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trajectory_data_proto->set_gravity_constant(
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trajectory_data.second.gravity_constant);
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*trajectory_data_proto->mutable_imu_calibration() = transform::ToProto(
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Eigen::Quaterniond(trajectory_data.second.imu_calibration[0],
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trajectory_data.second.imu_calibration[1],
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trajectory_data.second.imu_calibration[2],
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trajectory_data.second.imu_calibration[3]));
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if (trajectory_data.second.fixed_frame_origin_in_map.has_value()) {
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*trajectory_data_proto->mutable_fixed_frame_origin_in_map() =
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transform::ToProto(
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trajectory_data.second.fixed_frame_origin_in_map.value());
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}
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writer->WriteProto(proto);
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}
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}
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// TODO(pifon2a, ojura): serialize landmarks
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}
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void MapBuilder::LoadState(io::ProtoStreamReaderInterface* const reader,
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bool load_frozen_state) {
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proto::PoseGraph pose_graph_proto;
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CHECK(reader->ReadProto(&pose_graph_proto));
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proto::AllTrajectoryBuilderOptions all_builder_options_proto;
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CHECK(reader->ReadProto(&all_builder_options_proto));
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CHECK_EQ(pose_graph_proto.trajectory_size(),
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all_builder_options_proto.options_with_sensor_ids_size());
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std::map<int, int> trajectory_remapping;
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for (auto& trajectory_proto : *pose_graph_proto.mutable_trajectory()) {
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const auto& options_with_sensor_ids_proto =
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all_builder_options_proto.options_with_sensor_ids(
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trajectory_proto.trajectory_id());
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const int new_trajectory_id =
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AddTrajectoryForDeserialization(options_with_sensor_ids_proto);
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CHECK(trajectory_remapping
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.emplace(trajectory_proto.trajectory_id(), new_trajectory_id)
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.second)
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<< "Duplicate trajectory ID: " << trajectory_proto.trajectory_id();
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trajectory_proto.set_trajectory_id(new_trajectory_id);
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if (load_frozen_state) {
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pose_graph_->FreezeTrajectory(new_trajectory_id);
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}
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}
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// Apply the calculated remapping to constraints in the pose graph proto.
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for (auto& constraint_proto : *pose_graph_proto.mutable_constraint()) {
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constraint_proto.mutable_submap_id()->set_trajectory_id(
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trajectory_remapping.at(constraint_proto.submap_id().trajectory_id()));
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constraint_proto.mutable_node_id()->set_trajectory_id(
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trajectory_remapping.at(constraint_proto.node_id().trajectory_id()));
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}
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MapById<SubmapId, transform::Rigid3d> submap_poses;
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for (const proto::Trajectory& trajectory_proto :
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pose_graph_proto.trajectory()) {
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for (const proto::Trajectory::Submap& submap_proto :
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trajectory_proto.submap()) {
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submap_poses.Insert(SubmapId{trajectory_proto.trajectory_id(),
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submap_proto.submap_index()},
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transform::ToRigid3(submap_proto.pose()));
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}
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}
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MapById<NodeId, transform::Rigid3d> node_poses;
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for (const proto::Trajectory& trajectory_proto :
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pose_graph_proto.trajectory()) {
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for (const proto::Trajectory::Node& node_proto : trajectory_proto.node()) {
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node_poses.Insert(
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NodeId{trajectory_proto.trajectory_id(), node_proto.node_index()},
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transform::ToRigid3(node_proto.pose()));
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}
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}
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for (;;) {
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proto::SerializedData proto;
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if (!reader->ReadProto(&proto)) {
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break;
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}
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if (proto.has_node()) {
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proto.mutable_node()->mutable_node_id()->set_trajectory_id(
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trajectory_remapping.at(proto.node().node_id().trajectory_id()));
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const transform::Rigid3d node_pose =
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node_poses.at(NodeId{proto.node().node_id().trajectory_id(),
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proto.node().node_id().node_index()});
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pose_graph_->AddNodeFromProto(node_pose, proto.node());
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}
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if (proto.has_submap()) {
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proto.mutable_submap()->mutable_submap_id()->set_trajectory_id(
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trajectory_remapping.at(proto.submap().submap_id().trajectory_id()));
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const transform::Rigid3d submap_pose =
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submap_poses.at(SubmapId{proto.submap().submap_id().trajectory_id(),
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proto.submap().submap_id().submap_index()});
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pose_graph_->AddSubmapFromProto(submap_pose, proto.submap());
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}
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if (proto.has_trajectory_data()) {
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proto.mutable_trajectory_data()->set_trajectory_id(
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trajectory_remapping.at(proto.trajectory_data().trajectory_id()));
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pose_graph_->SetTrajectoryDataFromProto(proto.trajectory_data());
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}
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if (!load_frozen_state) {
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if (proto.has_imu_data()) {
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pose_graph_->AddImuData(
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trajectory_remapping.at(proto.imu_data().trajectory_id()),
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sensor::FromProto(proto.imu_data().imu_data()));
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}
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if (proto.has_odometry_data()) {
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pose_graph_->AddOdometryData(
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trajectory_remapping.at(proto.odometry_data().trajectory_id()),
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sensor::FromProto(proto.odometry_data().odometry_data()));
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}
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if (proto.has_fixed_frame_pose_data()) {
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pose_graph_->AddFixedFramePoseData(
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trajectory_remapping.at(
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proto.fixed_frame_pose_data().trajectory_id()),
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sensor::FromProto(
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proto.fixed_frame_pose_data().fixed_frame_pose_data()));
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}
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if (proto.has_landmark_data()) {
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pose_graph_->AddLandmarkData(
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trajectory_remapping.at(proto.landmark_data().trajectory_id()),
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sensor::FromProto(proto.landmark_data().landmark_data()));
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}
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}
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}
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if (load_frozen_state) {
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// Add information about which nodes belong to which submap.
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// Required for 3D pure localization.
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for (const proto::PoseGraph::Constraint& constraint_proto :
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pose_graph_proto.constraint()) {
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if (constraint_proto.tag() !=
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mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP) {
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continue;
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}
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pose_graph_->AddNodeToSubmap(
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NodeId{constraint_proto.node_id().trajectory_id(),
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constraint_proto.node_id().node_index()},
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SubmapId{constraint_proto.submap_id().trajectory_id(),
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constraint_proto.submap_id().submap_index()});
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}
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} else {
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// When loading unfrozen trajectories, 'AddSerializedConstraints' will
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// take care of adding information about which nodes belong to which
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// submap.
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pose_graph_->AddSerializedConstraints(
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FromProto(pose_graph_proto.constraint()));
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}
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CHECK(reader->eof());
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}
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} // namespace mapping
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} // namespace cartographer
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