Adds a binary that can generate PGM/YAML from a .pbstream. (#604)

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}
+)
+

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 <map>
+#include <string>
+
+#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);
+}