Adds a binary that runs over trajectory and data to create assets of all point data. (#142)

cartographer_ros/CMakeLists.txt

@@ -23,10 +23,12 @@ set(PACKAGE_DEPENDENCIES
   nav_msgs
   pcl_conversions
   roscpp
+  rosbag
   sensor_msgs
   tf2
   tf2_eigen
   tf2_ros
+  urdf
 )
 
 

cartographer_ros/cartographer_ros/CMakeLists.txt

@@ -109,6 +109,18 @@ google_catkin_test(time_conversion_test
     time_conversion
 )
 
+google_binary(cartographer_assets_writer
+  USES_CARTOGRAPHER
+  USES_GFLAGS
+  USES_GLOG
+  USES_ROS
+  SRCS
+    assets_writer_main.cc
+  DEPENDS
+    msg_conversion
+    time_conversion
+)
+
 google_binary(cartographer_node
   USES_CARTOGRAPHER
   USES_EIGEN
@@ -133,3 +145,9 @@ install(TARGETS cartographer_node
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+install(TARGETS cartographer_assets_writer
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

cartographer_ros/cartographer_ros/assets_writer_main.cc

@@ -0,0 +1,187 @@
+/*
+ * 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 <fstream>
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/common/make_unique.h"
+#include "cartographer/io/points_processor.h"
+#include "cartographer/io/points_processor_pipeline_builder.h"
+#include "cartographer/transform/transform_interpolation_buffer.h"
+#include "cartographer_ros/msg_conversion.h"
+#include "cartographer_ros/time_conversion.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "ros/ros.h"
+#include "ros/time.h"
+#include "rosbag/bag.h"
+#include "rosbag/view.h"
+#include "tf2_eigen/tf2_eigen.h"
+#include "tf2_ros/buffer.h"
+#include "urdf/model.h"
+
+DEFINE_string(configuration_directory, "",
+              "First directory in which configuration files are searched, "
+              "second is always the Cartographer installation to allow "
+              "including files from there.");
+DEFINE_string(configuration_basename, "",
+              "Basename, i.e. not containing any directory prefix, of the "
+              "configuration file.");
+DEFINE_string(
+    urdf, "",
+    "URDF file that contains static links for your sensor configuration.");
+DEFINE_string(bag_filename, "", "Bag to process.");
+DEFINE_string(
+    trajectory_filename, "",
+    "Proto containing the trajectory written by /finish_trajectory service.");
+
+namespace cartographer_ros {
+namespace {
+
+namespace carto = ::cartographer;
+
+std::unique_ptr<carto::transform::TransformInterpolationBuffer> ReadTrajectory(
+    const std::string& trajectory_filename) {
+  std::ifstream stream(trajectory_filename.c_str());
+  carto::proto::Trajectory trajectory_proto;
+  CHECK(trajectory_proto.ParseFromIstream(&stream));
+  return carto::transform::TransformInterpolationBuffer::FromTrajectory(
+      trajectory_proto);
+}
+
+void ReadStaticTransformsFromUrdf(const string& urdf_filename,
+                                  ::tf2_ros::Buffer* const buffer) {
+  urdf::Model model;
+  CHECK(model.initFile(urdf_filename));
+  std::vector<boost::shared_ptr<urdf::Link>> links;
+  model.getLinks(links);
+  for (const auto& link : links) {
+    if (!link->getParent() || link->parent_joint->type != urdf::Joint::FIXED) {
+      continue;
+    }
+
+    const urdf::Pose& pose =
+        link->parent_joint->parent_to_joint_origin_transform;
+    geometry_msgs::TransformStamped transform;
+    transform.transform = ToGeometryMsgTransform(carto::transform::Rigid3d(
+        Eigen::Vector3d(pose.position.x, pose.position.y, pose.position.z),
+        Eigen::Quaterniond(pose.rotation.w, pose.rotation.x, pose.rotation.y,
+                           pose.rotation.z)));
+    transform.child_frame_id = link->name;
+    transform.header.frame_id = link->getParent()->name;
+    buffer->setTransform(transform, "urdf", true /* is_static */);
+  }
+}
+
+void Run(const string& trajectory_filename, const string& bag_filename,
+         const string& configuration_directory,
+         const string& configuration_basename, const string& urdf_filename) {
+  ::tf2_ros::Buffer buffer;
+  ReadStaticTransformsFromUrdf(urdf_filename, &buffer);
+
+  auto transform_interpolation_buffer = ReadTrajectory(trajectory_filename);
+
+  auto* builder = carto::io::PointsProcessorPipelineBuilder::instance();
+
+  auto file_resolver =
+      carto::common::make_unique<carto::common::ConfigurationFileResolver>(
+          std::vector<string>{configuration_directory});
+  const string code =
+      file_resolver->GetFileContentOrDie(configuration_basename);
+  carto::common::LuaParameterDictionary lua_parameter_dictionary(
+      code, std::move(file_resolver), nullptr);
+  const string tracking_frame =
+      lua_parameter_dictionary.GetString("tracking_frame");
+
+  std::vector<std::unique_ptr<carto::io::PointsProcessor>> pipeline =
+      builder->CreatePipeline(
+          lua_parameter_dictionary.GetDictionary("pipeline").get());
+
+  do {
+    rosbag::Bag bag;
+    bag.open(bag_filename, rosbag::bagmode::Read);
+    // TODO(hrapp): Also parse tf messages and keep the 'buffer' updated as to
+    // support non-rigid sensor configurations.
+    rosbag::View view(
+        bag,
+        rosbag::TypeQuery(std::vector<std::string>{"sensor_msgs/PointCloud2"}));
+    const ros::Time bag_start_timestamp = view.getBeginTime();
+    const ros::Time bag_end_timestamp = view.getEndTime();
+
+    for (const rosbag::MessageInstance& m : view) {
+      auto point_cloud_msg = m.instantiate<sensor_msgs::PointCloud2>();
+      if (point_cloud_msg != nullptr) {
+        const carto::common::Time time = FromRos(point_cloud_msg->header.stamp);
+        if (!transform_interpolation_buffer->Has(time)) {
+          continue;
+        }
+        carto::transform::Rigid3d tracking_to_map =
+            transform_interpolation_buffer->Lookup(time);
+        pcl::PointCloud<pcl::PointXYZ> pcl_point_cloud;
+        pcl::fromROSMsg(*point_cloud_msg, pcl_point_cloud);
+
+        const carto::transform::Rigid3d sensor_to_tracking =
+            ToRigid3d(buffer.lookupTransform(tracking_frame,
+                                             point_cloud_msg->header.frame_id,
+                                             point_cloud_msg->header.stamp));
+
+        const carto::transform::Rigid3f sensor_to_map =
+            (tracking_to_map * sensor_to_tracking).cast<float>();
+
+        auto batch = carto::common::make_unique<carto::io::PointsBatch>();
+        batch->time = time;
+        batch->origin = sensor_to_map * Eigen::Vector3f::Zero();
+        batch->frame_id = point_cloud_msg->header.frame_id;
+
+        for (const auto& point : pcl_point_cloud) {
+          batch->points.push_back(sensor_to_map *
+                                  Eigen::Vector3f(point.x, point.y, point.z));
+        }
+        pipeline.back()->Process(std::move(batch));
+      }
+      ::ros::Time ros_time = m.getTime();
+      LOG_EVERY_N(INFO, 1000)
+          << "Processed " << (ros_time - bag_start_timestamp).toSec() << " of "
+          << (bag_end_timestamp - bag_start_timestamp).toSec()
+          << " bag time seconds.";
+    }
+    bag.close();
+  } while (pipeline.back()->Flush() ==
+           carto::io::PointsProcessor::FlushResult::kRestartStream);
+}
+
+}  // namespace
+}  // namespace cartographer_ros
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+  google::ParseCommandLineFlags(&argc, &argv, true);
+
+  CHECK(!FLAGS_configuration_directory.empty())
+      << "-configuration_directory is missing.";
+  CHECK(!FLAGS_configuration_basename.empty())
+      << "-configuration_basename is missing.";
+  CHECK(!FLAGS_bag_filename.empty()) << "-bag_filename is missing.";
+  CHECK(!FLAGS_trajectory_filename.empty())
+      << "-trajectory_filename is missing.";
+
+  ::cartographer_ros::Run(FLAGS_trajectory_filename, FLAGS_bag_filename,
+                          FLAGS_configuration_directory,
+                          FLAGS_configuration_basename, FLAGS_urdf);
+}

cartographer_ros/configuration_files/assets_writer.lua

@@ -0,0 +1,69 @@
+VOXEL_SIZE = 5e-2
+options = {
+  tracking_frame = "base_link",
+  pipeline = {
+    -- {
+      -- action = "fixed_ratio_sampler",
+      -- sampling_ratio = 1.,
+    -- },
+    -- {
+      -- action = "min_max_range_filter",
+      -- min_range = 1.,
+      -- max_range = 150.,
+    -- },
+    -- {
+      -- action = "voxel_filter_and_remove_moving_objects",
+      -- voxel_size = VOXEL_SIZE,
+    -- },
+    -- {
+      -- action = "dump_num_points",
+    -- },
+    -- {
+      -- action = "color_with_panos",
+      -- run_ids = {
+        -- "20120119_193543_L19220",
+      -- },
+    -- },
+    {
+      action = "write_xray_image",
+      voxel_size = VOXEL_SIZE,
+      filename = "xray_yz.png",
+      transform = {
+        translation = { 0., 0., 0. },
+        rotation = { 0. , 0., math.pi, },
+      },
+    },
+    {
+      action = "write_xray_image",
+      voxel_size = VOXEL_SIZE,
+      filename = "xray_xy.png",
+      transform = {
+        translation = { 0., 0., 0. },
+        rotation = { 0., -math.pi / 2., 0., },
+      },
+    },
+    {
+      action = "write_xray_image",
+      voxel_size = VOXEL_SIZE,
+      filename = "xray_xz.png",
+      transform = {
+        translation = { 0., 0., 0. },
+        rotation = { 0. , 0., -math.pi / 2, },
+      },
+    },
+    -- {
+      -- action = "write_xyz",
+      -- filename = "points.xyz",
+    -- },
+    -- {
+      -- action = "write_octree",
+      -- directory = "octree",
+    -- },
+    -- {
+      -- action = "write_ply",
+      -- filename = "points.ply",
+    -- },
+  }
+}
+
+return options

cartographer_ros/package.xml

@@ -56,6 +56,7 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
+  <depend>urdf</depend>
   <depend>yaml-cpp</depend>
 
   <test_depend>rosunit</test_depend>