Sematic-Cartographer/cartographer-master/cartographer/io/internal/pbstream_info.cc

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2022-06-23 19:58:36 +08:00
/*
* Copyright 2018 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 "cartographer/io/internal/pbstream_info.h"
#include <map>
#include <sstream>
#include <string>
#include "cartographer/io/proto_stream.h"
#include "cartographer/io/proto_stream_deserializer.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
DEFINE_bool(all_debug_strings, false,
"Print debug strings of all serialized data.");
using cartographer::mapping::proto::SerializedData;
namespace cartographer {
namespace io {
namespace {
void Run(const std::string& pbstream_filename, bool all_debug_strings) {
LOG(INFO) << "Reading pbstream file from '" << pbstream_filename << "'...";
io::ProtoStreamReader reader(pbstream_filename);
io::ProtoStreamDeserializer deserializer(&reader);
const auto header = deserializer.header();
LOG(INFO) << "Header: " << header.DebugString();
for (const mapping::proto::TrajectoryBuilderOptionsWithSensorIds&
trajectory_options : deserializer.all_trajectory_builder_options()
.options_with_sensor_ids()) {
LOG(INFO) << "Trajectory options: " << trajectory_options.DebugString();
}
const mapping::proto::PoseGraph pose_graph = deserializer.pose_graph();
for (const mapping::proto::Trajectory& trajectory : pose_graph.trajectory()) {
LOG(INFO) << "Trajectory id: " << trajectory.trajectory_id()
<< " has #nodes " << trajectory.node_size() << " has #submaps "
<< trajectory.submap_size();
}
if (all_debug_strings) {
LOG(INFO) << "Pose graph: " << pose_graph.DebugString();
}
const std::map<SerializedData::DataCase, std::string> data_case_to_name = {
{SerializedData::kSubmap, "submap"},
{SerializedData::kNode, "node"},
{SerializedData::kTrajectoryData, "trajectory_data"},
{SerializedData::kImuData, "imu_data"},
{SerializedData::kOdometryData, "odometry_data"},
{SerializedData::kFixedFramePoseData, "fixed_frame_pose_data"},
{SerializedData::kLandmarkData, "landmark_data"},
};
// Initialize so zero counts of these are also reported.
std::map<std::string, int> data_counts = {
{"submap_2d", 0},
{"submap_2d_grid", 0},
{"submap_3d", 0},
{"submap_3d_high_resolution_hybrid_grid", 0},
};
SerializedData proto;
while (deserializer.ReadNextSerializedData(&proto)) {
if (all_debug_strings) {
LOG(INFO) << "Serialized data: " << proto.DebugString();
}
auto it = data_case_to_name.find(proto.data_case());
if (it == data_case_to_name.end()) {
LOG(WARNING) << "Skipping unknown message type in stream: "
<< proto.GetTypeName();
}
const std::string& data_name = it->second;
++data_counts[data_name];
if (proto.data_case() == SerializedData::kSubmap) {
if (proto.mutable_submap()->has_submap_2d()) {
++data_counts["submap_2d"];
if (proto.mutable_submap()->mutable_submap_2d()->has_grid()) {
++data_counts["submap_2d_grid"];
}
}
if (proto.mutable_submap()->has_submap_3d()) {
++data_counts["submap_3d"];
if (proto.mutable_submap()
->mutable_submap_3d()
->has_high_resolution_hybrid_grid()) {
++data_counts["submap_3d_high_resolution_hybrid_grid"];
}
}
}
}
for (const auto& entry : data_counts) {
LOG(INFO) << "SerializedData package contains #" << entry.first << ": "
<< entry.second;
}
}
} // namespace
int pbstream_info(int argc, char* argv[]) {
std::stringstream ss;
ss << "\n\n"
<< "Reads a pbstream file and summarizes its contents.\n\n"
<< "Usage: " << argv[0] << " " << argv[1]
<< " <pbstream_filename> [flags]\n";
google::SetUsageMessage(ss.str());
if (argc < 3) {
google::ShowUsageWithFlagsRestrict(argv[0], "pbstream_info");
return EXIT_FAILURE;
}
Run(argv[2], FLAGS_all_debug_strings);
return EXIT_SUCCESS;
}
} // namespace io
} // namespace cartographer