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

Validate IMU, odometry, timing, frame names. (#615)

master
gaschler 2017-12-05 00:42:12 +01:00 committed by Christoph Schütte
parent 4dac7c3ebe
commit 718dee5c2c
1 changed files with 154 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

164
cartographer_ros/cartographer_ros/rosbag_validate_main.cc
View File

@ -17,10 +17,12 @@
#include <fstream>
#include <iostream>
#include <map>
#include <set>
#include <string>
#include "cartographer/common/histogram.h"
#include "cartographer/common/make_unique.h"
#include "cartographer_ros/msg_conversion.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
#include "nav_msgs/Odometry.h"
@ -45,13 +47,30 @@ DEFINE_bool(dump_timing, false,
namespace cartographer_ros {
namespace {
struct PerFrameId {
struct FrameProperties {
ros::Time last_timestamp;
std::string topic;
::cartographer::common::Histogram histogram;
std::vector<float> time_deltas;
std::unique_ptr<std::ofstream> timing_file;
std::string data_type;
};
const double kMinLinearAcceleration = 3.;
const double kMaxLinearAcceleration = 30.;
const double kTimeDeltaSerializationSensorWarning = 0.1;
const double kTimeDeltaSerializationSensorError = 0.5;
const double kMinAverageAcceleration = 9.5;
const double kMaxAverageAcceleration = 10.5;
const double kMaxGapPointsData = 0.1;
const double kMaxGapImuData = 0.05;
const std::set<std::string> kPointDataTypes = {
std::string(
ros::message_traits::DataType<sensor_msgs::PointCloud2>::value()),
std::string(ros::message_traits::DataType<
sensor_msgs::MultiEchoLaserScan>::value()),
std::string(
ros::message_traits::DataType<sensor_msgs::LaserScan>::value())};
std::unique_ptr<std::ofstream> CreateTimingFile(const std::string& frame_id) {
auto timing_file = ::cartographer::common::make_unique<std::ofstream>(
std::string("timing_") + frame_id + ".csv", std::ios_base::out);
@ -76,13 +95,64 @@ std::unique_ptr<std::ofstream> CreateTimingFile(const std::string& frame_id) {
return timing_file;
}
void CheckImuMessage(const sensor_msgs::Imu& imu_message) {
auto linear_acceleration = ToEigen(imu_message.linear_acceleration);
if (std::isnan(linear_acceleration.norm()) ||
linear_acceleration.norm() < kMinLinearAcceleration ||
linear_acceleration.norm() > kMaxLinearAcceleration) {
LOG_FIRST_N(WARNING, 3)
<< "frame_id " << imu_message.header.frame_id << " time "
<< imu_message.header.stamp.toNSec() << ": IMU linear acceleration is "
<< linear_acceleration.norm() << " m/s^2,"
<< " expected is [" << kMinLinearAcceleration << ", "
<< kMaxLinearAcceleration << "] m/s^2."
<< " (It should include gravity and be given in m/s^2.)"
<< " linear_acceleration " << linear_acceleration.transpose();
}
}
bool IsValidPose(const geometry_msgs::Pose& pose) {
return ToRigid3d(pose).IsValid();
}
void CheckOdometryMessage(const nav_msgs::Odometry& message) {
const auto& pose = message.pose.pose;
if (!IsValidPose(pose)) {
LOG_FIRST_N(ERROR, 3) << "frame_id " << message.header.frame_id << " time "
<< message.header.stamp.toNSec()
<< ": Odometry pose is invalid."
<< " pose " << pose;
}
}
void CheckTfMessage(const tf2_msgs::TFMessage& message) {
for (const auto& transform : message.transforms) {
if (transform.header.frame_id == "map") {
LOG_FIRST_N(ERROR, 1)
<< "Input contains transform message from frame_id \""
<< transform.header.frame_id << "\" to child_frame_id \""
<< transform.child_frame_id
<< "\". This is almost always output published by cartographer and "
"should not appear as input. (Unless you have some complex "
"remove_frames configuration, this is will not work. Simplest "
"solution is to record input without cartographer running.)";
}
}
}
bool IsPointDataType(const std::string& data_type) {
return (kPointDataTypes.count(data_type) != 0);
}
void Run(const std::string& bag_filename, const bool dump_timing) {
rosbag::Bag bag;
bag.open(bag_filename, rosbag::bagmode::Read);
rosbag::View view(bag);
std::map<std::string, PerFrameId> per_frame_id;
std::map<std::string, FrameProperties> frame_id_to_properties;
size_t message_index = 0;
int num_imu_messages = 0;
double sum_imu_acceleration = 0.;
for (const rosbag::MessageInstance& message : view) {
++message_index;
std::string frame_id;
@ -103,39 +173,49 @@ void Run(const std::string& bag_filename, const bool dump_timing) {
auto msg = message.instantiate<sensor_msgs::Imu>();
time = msg->header.stamp;
frame_id = msg->header.frame_id;
CheckImuMessage(*msg);
num_imu_messages++;
sum_imu_acceleration += ToEigen(msg->linear_acceleration).norm();
} else if (message.isType<nav_msgs::Odometry>()) {
auto msg = message.instantiate<nav_msgs::Odometry>();
time = msg->header.stamp;
frame_id = msg->header.frame_id;
CheckOdometryMessage(*msg);
} else if (message.isType<tf2_msgs::TFMessage>()) {
auto msg = message.instantiate<tf2_msgs::TFMessage>();
CheckTfMessage(*msg);
continue;
} else {
continue;
}
bool first_packet = false;
if (!per_frame_id.count(frame_id)) {
per_frame_id.emplace(
if (!frame_id_to_properties.count(frame_id)) {
frame_id_to_properties.emplace(
frame_id,
PerFrameId{time, message.getTopic(),
::cartographer::common::Histogram(),
dump_timing ? CreateTimingFile(frame_id) : nullptr});
FrameProperties{time, message.getTopic(), std::vector<float>(),
dump_timing ? CreateTimingFile(frame_id) : nullptr,
message.getDataType()});
first_packet = true;
}
auto& entry = per_frame_id.at(frame_id);
auto& entry = frame_id_to_properties.at(frame_id);
if (!first_packet) {
const double delta_t_sec = (time - entry.last_timestamp).toSec();
if (delta_t_sec < 0) {
LOG(ERROR) << "Sensor with frame_id \"" << frame_id
LOG_FIRST_N(ERROR, 3)
<< "Sensor with frame_id \"" << frame_id
<< "\" jumps backwards in time. Make sure that the bag "
"contains the data for each frame_id sorted by "
"header.stamp, i.e. the order in which they were "
"acquired from the sensor.";
}
entry.histogram.Add(delta_t_sec);
entry.time_deltas.push_back(delta_t_sec);
}
if (entry.topic != message.getTopic()) {
LOG(ERROR) << "frame_id \"" << frame_id
LOG_FIRST_N(ERROR, 3)
<< "frame_id \"" << frame_id
<< "\" is send on multiple topics. It was seen at least on "
<< entry.topic << " and " << message.getTopic();
}
@ -147,19 +227,71 @@ void Run(const std::string& bag_filename, const bool dump_timing) {
<< message.getTime().toNSec() << "\t"
<< time.toNSec() << std::endl;
}
double duration_serialization_sensor = (time - message.getTime()).toSec();
if (std::abs(duration_serialization_sensor) >
kTimeDeltaSerializationSensorWarning) {
std::stringstream stream;
stream << "frame_id \"" << frame_id << "\" on topic "
<< message.getTopic() << " has serialization time "
<< message.getTime() << " but sensor time " << time
<< " differing by " << duration_serialization_sensor << " s.";
if (std::abs(duration_serialization_sensor) >
kTimeDeltaSerializationSensorError) {
LOG_FIRST_N(ERROR, 3) << stream.str();
} else {
LOG_FIRST_N(WARNING, 1) << stream.str();
}
}
}
bag.close();
if (num_imu_messages > 0) {
double average_imu_acceleration = sum_imu_acceleration / num_imu_messages;
if (std::isnan(average_imu_acceleration) ||
average_imu_acceleration < kMinAverageAcceleration ||
average_imu_acceleration > kMaxAverageAcceleration) {
LOG(ERROR) << "Average IMU linear acceleration is "
<< average_imu_acceleration << " m/s^2,"
<< " expected is [" << kMinAverageAcceleration << ", "
<< kMaxAverageAcceleration
<< "] m/s^2. Linear acceleration data "
"should include gravity and be given in m/s^2.";
}
}
constexpr int kNumBucketsForHistogram = 10;
for (const auto& entry_pair : per_frame_id) {
for (const auto& entry_pair : frame_id_to_properties) {
const FrameProperties& frame_properties = entry_pair.second;
float max_time_delta =
*std::max_element(frame_properties.time_deltas.begin(),
frame_properties.time_deltas.end());
if (IsPointDataType(frame_properties.data_type) &&
max_time_delta > kMaxGapPointsData) {
LOG(ERROR) << "Point data (frame_id: \"" << entry_pair.first
<< "\") has a large gap, largest is " << max_time_delta
<< " s, recommended is [0.0005, 0.05] s with no jitter.";
}
if (frame_properties.data_type ==
ros::message_traits::DataType<sensor_msgs::Imu>::value() &&
max_time_delta > kMaxGapImuData) {
LOG(ERROR) << "IMU data (frame_id: \"" << entry_pair.first
<< "\") has a large gap, largest is " << max_time_delta
<< " s, recommended is [0.0005, 0.005] s with no jitter.";
}
cartographer::common::Histogram histogram;
for (float time_delta : frame_properties.time_deltas) {
histogram.Add(time_delta);
}
LOG(INFO) << "Time delta histogram for consecutive messages on topic \""
<< entry_pair.second.topic << "\" (frame_id: \""
<< frame_properties.topic << "\" (frame_id: \""
<< entry_pair.first << "\"):\n"
<< entry_pair.second.histogram.ToString(kNumBucketsForHistogram);
<< histogram.ToString(kNumBucketsForHistogram);
}
if (dump_timing) {
for (const auto& entry_pair : per_frame_id) {
for (const auto& entry_pair : frame_id_to_properties) {
entry_pair.second.timing_file->close();
CHECK(*entry_pair.second.timing_file)
<< "Could not write timing information for \"" << entry_pair.first