Add launch and lua files for quality evaluation pipelines. (#555)

cartographer_ros/configuration_files/assets_writer_backpack_2d.lua

@@ -19,20 +19,7 @@
 -- of a pixel in a X-Ray.
 VOXEL_SIZE = 5e-2
 
-XY_TRANSFORM =  {
-  translation = { 0., 0., 0. },
-  rotation = { 0., -math.pi / 2., 0., },
-}
-
-XZ_TRANSFORM =  {
-  translation = { 0., 0., 0. },
-  rotation = { 0. , 0., -math.pi / 2, },
-}
-
-YZ_TRANSFORM =  {
-  translation = { 0., 0., 0. },
-  rotation = { 0. , 0., math.pi, },
-}
+include "transform.lua"
 
 options = {
   tracking_frame = "base_link",

cartographer_ros/configuration_files/assets_writer_backpack_2d_ci.lua

@@ -0,0 +1,56 @@
+-- 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.
+
+-- WARNING: we create a lot of X-Rays of a potentially large space in this
+-- pipeline. For example, running over the
+-- cartographer_paper_deutsches_museum.bag requires ~25GiB of memory. You can
+-- reduce this by writing fewer X-Rays or upping VOXEL_SIZE - which is the size
+-- of a pixel in a X-Ray.
+VOXEL_SIZE = 5e-2
+
+include "transform.lua"
+
+options = {
+  tracking_frame = "base_link",
+  pipeline = {
+    {
+      action = "min_max_range_filter",
+      min_range = 1.,
+      max_range = 60.,
+    },
+    {
+      action = "dump_num_points",
+    },
+    {
+      action = "write_xray_image",
+      voxel_size = VOXEL_SIZE,
+      filename = "xray_yz_all",
+      transform = YZ_TRANSFORM,
+    },
+    {
+      action = "write_xray_image",
+      voxel_size = VOXEL_SIZE,
+      filename = "xray_xy_all",
+      transform = XY_TRANSFORM,
+    },
+    {
+      action = "write_xray_image",
+      voxel_size = VOXEL_SIZE,
+      filename = "xray_xz_all",
+      transform = XZ_TRANSFORM,
+    },
+  }
+}
+
+return options

cartographer_ros/configuration_files/assets_writer_backpack_3d.lua

@@ -14,20 +14,7 @@
 
 VOXEL_SIZE = 5e-2
 
-XY_TRANSFORM =  {
-  translation = { 0., 0., 0. },
-  rotation = { 0., -math.pi / 2., 0., },
-}
-
-XZ_TRANSFORM =  {
-  translation = { 0., 0., 0. },
-  rotation = { 0. , 0., -math.pi / 2, },
-}
-
-YZ_TRANSFORM =  {
-  translation = { 0., 0., 0. },
-  rotation = { 0. , 0., math.pi, },
-}
+include "transform.lua"
 
 options = {
   tracking_frame = "base_link",

cartographer_ros/configuration_files/transform.lua

@@ -0,0 +1,28 @@
+-- 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.
+
+XY_TRANSFORM =  {
+  translation = { 0., 0., 0. },
+  rotation = { 0., -math.pi / 2., 0., },
+}
+
+XZ_TRANSFORM =  {
+  translation = { 0., 0., 0. },
+  rotation = { 0. , 0., -math.pi / 2, },
+}
+
+YZ_TRANSFORM =  {
+  translation = { 0., 0., 0. },
+  rotation = { 0. , 0., math.pi, },
+}

cartographer_ros/launch/assets_writer_backpack_2d.launch

@@ -15,10 +15,11 @@
 -->
 
 <launch>
+  <arg name="config_file" default="assets_writer_backpack_2d.lua"/>
   <node name="cartographer_assets_writer" pkg="cartographer_ros" required="true"
       type="cartographer_assets_writer" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basename assets_writer_backpack_2d.lua
+          -configuration_basename $(arg config_file)
           -urdf_filename $(find cartographer_ros)/urdf/backpack_2d.urdf
           -bag_filenames $(arg bag_filenames)
           -pose_graph_filename $(arg pose_graph_filename)"

cartographer_ros/launch/offline_backpack_2d.launch

@@ -15,12 +15,19 @@
 -->
 
 <launch>
+  <arg name="no_rviz" default="false"/>
   <param name="/use_sim_time" value="true" />
 
+  <group unless="$(arg no_rviz)">
     <node name="rviz" pkg="rviz" type="rviz" required="true"
         args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
 
+    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+        type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+  </group>
+
   <node name="cartographer_offline_node" pkg="cartographer_ros"
+      required="$(arg no_rviz)"
       type="cartographer_offline_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename backpack_2d.lua
@@ -29,7 +36,4 @@
       output="screen">
     <remap from="echoes" to="horizontal_laser_2d" />
   </node>
-
-  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
 </launch>