12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Remove deleted trajectories from submaps display. (#1065) 

Fixes strange behavior with empty leftover entries in the trajectory list of the RViz plugin.

By using an `std::map` instead of an `std::vector` for the trajectories  we can
easily erase trajectories which do not appear in the submap list anymore.
master
Michael Grupp 2018-10-19 09:30:42 +02:00 committed by Wally B. Feed
parent 725815177a
commit 1e5b180e93
2 changed files with 39 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

63
cartographer_rviz/cartographer_rviz/submaps_display.cc
View File

@ -121,7 +121,7 @@ void SubmapsDisplay::processMessage(
// previous instance.
for (const ::cartographer_ros_msgs::SubmapEntry& submap_entry : msg->submap) {
const size_t trajectory_id = submap_entry.trajectory_id;
if (trajectory_id >= trajectories_.size()) {
if (trajectories_.count(trajectory_id) == 0) {
continue;
}
const auto& trajectory_submaps = trajectories_[trajectory_id]->submaps;
@ -135,20 +135,25 @@ void SubmapsDisplay::processMessage(
}
using ::cartographer::mapping::SubmapId;
std::set<SubmapId> listed_submaps;
std::set<int> listed_trajectories;
for (const ::cartographer_ros_msgs::SubmapEntry& submap_entry : msg->submap) {
const SubmapId id{submap_entry.trajectory_id, submap_entry.submap_index};
listed_submaps.insert(id);
while (id.trajectory_id >= static_cast<int>(trajectories_.size())) {
trajectories_.push_back(absl::make_unique<Trajectory>(
absl::make_unique<::rviz::BoolProperty>(
QString("Trajectory %1").arg(id.trajectory_id),
visibility_all_enabled_->getBool(),
QString("List of all submaps in Trajectory %1. The checkbox "
listed_trajectories.insert(submap_entry.trajectory_id);
if (trajectories_.count(id.trajectory_id) == 0) {
trajectories_.insert(std::make_pair(
id.trajectory_id,
absl::make_unique<Trajectory>(
absl::make_unique<::rviz::BoolProperty>(
QString("Trajectory %1").arg(id.trajectory_id),
visibility_all_enabled_->getBool(),
QString(
"List of all submaps in Trajectory %1. The checkbox "
"controls whether all submaps in this trajectory should "
"be displayed or not.")
.arg(id.trajectory_id),
trajectories_category_),
pose_markers_all_enabled_->getBool()));
.arg(id.trajectory_id),
trajectories_category_),
pose_markers_all_enabled_->getBool())));
}
auto& trajectory_visibility = trajectories_[id.trajectory_id]->visibility;
auto& trajectory_submaps = trajectories_[id.trajectory_id]->submaps;
@ -172,10 +177,18 @@ void SubmapsDisplay::processMessage(
}
trajectory_submaps.at(id.submap_index)->Update(msg->header, submap_entry);
}
// Remove all deleted trajectories not mentioned in the SubmapList.
for (auto it = trajectories_.begin(); it != trajectories_.end();) {
if (listed_trajectories.count(it->first) == 0) {
it = trajectories_.erase(it);
} else {
++it;
}
}
// Remove all submaps not mentioned in the SubmapList.
for (size_t trajectory_id = 0; trajectory_id < trajectories_.size();
++trajectory_id) {
auto& trajectory_submaps = trajectories_[trajectory_id]->submaps;
for (const auto& trajectory_by_id : trajectories_) {
const int trajectory_id = trajectory_by_id.first;
auto& trajectory_submaps = trajectory_by_id.second->submaps;
for (auto it = trajectory_submaps.begin();
it != trajectory_submaps.end();) {
if (listed_submaps.count(
@ -191,15 +204,15 @@ void SubmapsDisplay::processMessage(
void SubmapsDisplay::update(const float wall_dt, const float ros_dt) {
absl::MutexLock locker(&mutex_);
// Schedule fetching of new submap textures.
for (const auto& trajectory : trajectories_) {
for (const auto& trajectory_by_id : trajectories_) {
int num_ongoing_requests = 0;
for (const auto& submap_entry : trajectory->submaps) {
for (const auto& submap_entry : trajectory_by_id.second->submaps) {
if (submap_entry.second->QueryInProgress()) {
++num_ongoing_requests;
}
}
for (auto it = trajectory->submaps.rbegin();
it != trajectory->submaps.rend() &&
for (auto it = trajectory_by_id.second->submaps.rbegin();
it != trajectory_by_id.second->submaps.rend() &&
num_ongoing_requests < kMaxOnGoingRequestsPerTrajectory;
++it) {
if (it->second->MaybeFetchTexture(&client_)) {
@ -216,8 +229,8 @@ void SubmapsDisplay::update(const float wall_dt, const float ros_dt) {
const ::geometry_msgs::TransformStamped transform_stamped =
tf_buffer_.lookupTransform(
*map_frame_, tracking_frame_property_->getStdString(), kLatest);
for (auto& trajectory : trajectories_) {
for (auto& submap_entry : trajectory->submaps) {
for (auto& trajectory_by_id : trajectories_) {
for (auto& submap_entry : trajectory_by_id.second->submaps) {
submap_entry.second->SetAlpha(
transform_stamped.transform.translation.z,
fade_out_start_distance_in_meters_->getFloat());
@ -240,23 +253,23 @@ void SubmapsDisplay::update(const float wall_dt, const float ros_dt) {
void SubmapsDisplay::AllEnabledToggled() {
absl::MutexLock locker(&mutex_);
const bool visible = visibility_all_enabled_->getBool();
for (auto& trajectory : trajectories_) {
trajectory->visibility->setBool(visible);
for (auto& trajectory_by_id : trajectories_) {
trajectory_by_id.second->visibility->setBool(visible);
}
}
void SubmapsDisplay::PoseMarkersEnabledToggled() {
absl::MutexLock locker(&mutex_);
const bool visible = pose_markers_all_enabled_->getBool();
for (auto& trajectory : trajectories_) {
trajectory->pose_markers_visibility->setBool(visible);
for (auto& trajectory_by_id : trajectories_) {
trajectory_by_id.second->pose_markers_visibility->setBool(visible);
}
}
void SubmapsDisplay::ResolutionToggled() {
absl::MutexLock locker(&mutex_);
for (auto& trajectory : trajectories_) {
for (auto& submap_entry : trajectory->submaps) {
for (auto& trajectory_by_id : trajectories_) {
for (auto& submap_entry : trajectory_by_id.second->submaps) {
submap_entry.second->SetSliceVisibility(
0, slice_high_resolution_enabled_->getBool());
submap_entry.second->SetSliceVisibility(

2
cartographer_rviz/cartographer_rviz/submaps_display.h
View File

@ -93,7 +93,7 @@ class SubmapsDisplay
std::unique_ptr<std::string> map_frame_;
::rviz::StringProperty* tracking_frame_property_;
Ogre::SceneNode* map_node_ = nullptr; // Represents the map frame.
std::vector<std::unique_ptr<Trajectory>> trajectories_ GUARDED_BY(mutex_);
std::map<int, std::unique_ptr<Trajectory>> trajectories_ GUARDED_BY(mutex_);
absl::Mutex mutex_;
::rviz::BoolProperty* slice_high_resolution_enabled_;
::rviz::BoolProperty* slice_low_resolution_enabled_;