From 99c23b6ac7874f7974e9ed808ace841da6f2c8b0 Mon Sep 17 00:00:00 2001 From: Holger Rapp Date: Fri, 17 Nov 2017 14:17:27 +0100 Subject: [PATCH] Adds a binary that can generate PGM/YAML from a .pbstream. (#604) --- .../cartographer_ros/CMakeLists.txt | 12 ++ .../pbstream_to_ros_map_main.cc | 132 ++++++++++++++++++ 2 files changed, 144 insertions(+) create mode 100644 cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc diff --git a/cartographer_ros/cartographer_ros/CMakeLists.txt b/cartographer_ros/cartographer_ros/CMakeLists.txt index 496fa4b..c9c2edd 100644 --- a/cartographer_ros/cartographer_ros/CMakeLists.txt +++ b/cartographer_ros/cartographer_ros/CMakeLists.txt @@ -79,3 +79,15 @@ install(TARGETS cartographer_rosbag_validate LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +google_binary(cartographer_pbstream_to_ros_map + SRCS + pbstream_to_ros_map_main.cc +) + +install(TARGETS cartographer_pbstream_to_ros_map + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + diff --git a/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc new file mode 100644 index 0000000..e29873c --- /dev/null +++ b/cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc @@ -0,0 +1,132 @@ +/* + * Copyright 2017 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 +#include + +#include "cartographer/io/proto_stream.h" +#include "cartographer/io/submap_painter.h" +#include "cartographer/mapping/proto/pose_graph.pb.h" +#include "cartographer/mapping/proto/serialization.pb.h" +#include "cartographer/mapping/proto/submap.pb.h" +#include "cartographer/mapping/submaps.h" +#include "cartographer/mapping_2d/probability_grid.h" +#include "cartographer/mapping_2d/submaps.h" +#include "cartographer/mapping_3d/submaps.h" +#include "cartographer_ros/ros_map.h" +#include "cartographer_ros/submap.h" +#include "gflags/gflags.h" +#include "glog/logging.h" + +DEFINE_string(pbstream_filename, "", + "Filename of a pbstream to draw a map from."); +DEFINE_string(map_filestem, "map", "Stem of the output files."); +DEFINE_double(resolution, 0.05, "Resolution of a grid cell in the drawn map."); + +namespace cartographer_ros { +namespace { + +void FillSubmapSlice( + const ::cartographer::transform::Rigid3d& global_submap_pose, + const ::cartographer::mapping::proto::Submap& proto, + ::cartographer::io::SubmapSlice* const submap_slice) { + ::cartographer::mapping::proto::SubmapQuery::Response response; + ::cartographer::transform::Rigid3d local_pose; + if (proto.has_submap_3d()) { + ::cartographer::mapping_3d::Submap submap(proto.submap_3d()); + local_pose = submap.local_pose(); + submap.ToResponseProto(global_submap_pose, &response); + } else { + ::cartographer::mapping_2d::Submap submap(proto.submap_2d()); + local_pose = submap.local_pose(); + submap.ToResponseProto(global_submap_pose, &response); + } + submap_slice->pose = global_submap_pose; + + auto& texture_proto = response.textures(0); + const SubmapTexture::Pixels pixels = UnpackTextureData( + texture_proto.cells(), texture_proto.width(), texture_proto.height()); + submap_slice->width = texture_proto.width(); + submap_slice->height = texture_proto.height(); + submap_slice->resolution = texture_proto.resolution(); + submap_slice->slice_pose = + ::cartographer::transform::ToRigid3(texture_proto.slice_pose()); + submap_slice->surface = + DrawTexture(pixels.intensity, pixels.alpha, texture_proto.width(), + texture_proto.height(), &submap_slice->cairo_data); +} + +void Run(const std::string& pbstream_filename, const std::string& map_filestem, + const double resolution) { + ::cartographer::io::ProtoStreamReader reader(pbstream_filename); + + ::cartographer::mapping::proto::PoseGraph pose_graph; + CHECK(reader.ReadProto(&pose_graph)); + + LOG(INFO) << "Loading submap slices from serialized data."; + std::map<::cartographer::mapping::SubmapId, ::cartographer::io::SubmapSlice> + submap_slices; + for (;;) { + ::cartographer::mapping::proto::SerializedData proto; + if (!reader.ReadProto(&proto)) { + break; + } + if (proto.has_submap()) { + const auto& submap = proto.submap(); + const ::cartographer::mapping::SubmapId id{ + submap.submap_id().trajectory_id(), + submap.submap_id().submap_index()}; + const ::cartographer::transform::Rigid3d global_submap_pose = + ::cartographer::transform::ToRigid3( + pose_graph.trajectory(id.trajectory_id) + .submap(id.submap_index) + .pose()); + FillSubmapSlice(global_submap_pose, submap, &submap_slices[id]); + } + } + CHECK(reader.eof()); + + LOG(INFO) << "Generating combined map image from submap slices."; + auto result = + ::cartographer::io::PaintSubmapSlices(submap_slices, resolution); + + ::cartographer::io::StreamFileWriter pgm_writer(map_filestem + ".pgm"); + + ::cartographer::io::Image image(std::move(result.surface)); + WritePgm(image, resolution, &pgm_writer); + + const Eigen::Vector2d origin( + -result.origin.x() * resolution, + (result.origin.y() - image.height()) * resolution); + + ::cartographer::io::StreamFileWriter yaml_writer(map_filestem + ".yaml"); + WriteYaml(resolution, origin, pgm_writer.GetFilename(), &yaml_writer); +} + +} // namespace +} // namespace cartographer_ros + +int main(int argc, char** argv) { + FLAGS_alsologtostderr = true; + google::InitGoogleLogging(argv[0]); + google::ParseCommandLineFlags(&argc, &argv, true); + + CHECK(!FLAGS_pbstream_filename.empty()) << "-pbstream_filename is missing."; + CHECK(!FLAGS_map_filestem.empty()) << "-map_filestem is missing."; + + ::cartographer_ros::Run(FLAGS_pbstream_filename, FLAGS_map_filestem, + FLAGS_resolution); +}