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Serialize the state in a proto stream file. (#403) 

This follows googlecartographer/cartographer#379.
master
Wolfgang Hess 2017-07-03 16:07:55 +02:00 committed by GitHub
parent 7c31232208
commit 4d218283de
2 changed files with 9 additions and 12 deletions
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10
cartographer_ros/cartographer_ros/assets_writer_main.cc
View File

@ -26,6 +26,7 @@
#include "cartographer/io/file_writer.h"
#include "cartographer/io/points_processor.h"
#include "cartographer/io/points_processor_pipeline_builder.h"
#include "cartographer/io/proto_stream.h"
#include "cartographer/mapping/proto/sparse_pose_graph.pb.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/range_data.h"
@ -58,9 +59,8 @@ DEFINE_string(
DEFINE_string(bag_filenames, "",
"Bags to process, must be in the same order as the trajectories "
"in 'pose_graph_filename'.");
DEFINE_string(
pose_graph_filename, "",
"Proto containing the pose graph written by /write_assets service.");
DEFINE_string(pose_graph_filename, "",
"Proto stream file containing the pose graph.");
DEFINE_bool(use_bag_transforms, true,
"Whether to read and use the transforms from the bag.");
@ -148,9 +148,9 @@ void Run(const string& pose_graph_filename,
carto::common::LuaParameterDictionary lua_parameter_dictionary(
code, std::move(file_resolver));
std::ifstream stream(pose_graph_filename.c_str());
carto::io::ProtoStreamReader reader(pose_graph_filename);
carto::mapping::proto::SparsePoseGraph pose_graph_proto;
CHECK(pose_graph_proto.ParseFromIstream(&stream));
CHECK(reader.ReadProto(&pose_graph_proto));
CHECK_EQ(pose_graph_proto.trajectory_size(), bag_filenames.size())
<< "Pose graphs contains " << pose_graph_proto.trajectory_size()
<< " trajectories while " << bag_filenames.size()

11
cartographer_ros/cartographer_ros/map_builder_bridge.cc
View File

@ -16,6 +16,7 @@
#include "cartographer_ros/map_builder_bridge.h"
#include "cartographer/io/proto_stream.h"
#include "cartographer_ros/assets_writer.h"
#include "cartographer_ros/color.h"
#include "cartographer_ros/msg_conversion.h"
@ -62,13 +63,9 @@ void MapBuilderBridge::FinishTrajectory(const int trajectory_id) {
}
void MapBuilderBridge::SerializeState(const std::string& stem) {
std::ofstream proto_file(stem + ".pb",
std::ios_base::out | std::ios_base::binary);
CHECK(map_builder_.sparse_pose_graph()->ToProto().SerializeToOstream(
&proto_file))
<< "Could not serialize pose graph.";
proto_file.close();
CHECK(proto_file) << "Could not write pose graph.";
cartographer::io::ProtoStreamWriter writer(stem + ".pbstream");
map_builder_.SerializeState(&writer);
CHECK(writer.Close()) << "Could not write state.";
}
void MapBuilderBridge::WriteAssets(const string& stem) {