181 lines
7.7 KiB
C++
Executable File
181 lines
7.7 KiB
C++
Executable File
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/internal/global_trajectory_builder.h"
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#include <memory>
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#include "absl/memory/memory.h"
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#include "absl/types/optional.h"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/internal/local_slam_result_data.h"
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#include "cartographer/mapping/internal/motion_filter.h"
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#include "cartographer/metrics/family_factory.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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static auto* kLocalSlamMatchingResults = metrics::Counter::Null();
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static auto* kLocalSlamInsertionResults = metrics::Counter::Null();
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template <typename LocalTrajectoryBuilder, typename PoseGraph>
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class GlobalTrajectoryBuilder : public mapping::TrajectoryBuilderInterface {
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public:
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// Passing a 'nullptr' for 'local_trajectory_builder' is acceptable, but no
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// 'TimedPointCloudData' may be added in that case.
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GlobalTrajectoryBuilder(
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std::unique_ptr<LocalTrajectoryBuilder> local_trajectory_builder,
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const int trajectory_id, PoseGraph* const pose_graph,
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const LocalSlamResultCallback& local_slam_result_callback,
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const absl::optional<MotionFilter>& pose_graph_odometry_motion_filter)
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: trajectory_id_(trajectory_id),
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pose_graph_(pose_graph),
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local_trajectory_builder_(std::move(local_trajectory_builder)),
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local_slam_result_callback_(local_slam_result_callback),
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pose_graph_odometry_motion_filter_(pose_graph_odometry_motion_filter) {}
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~GlobalTrajectoryBuilder() override {}
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GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
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GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
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void AddSensorData(
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const std::string& sensor_id,
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const sensor::TimedPointCloudData& timed_point_cloud_data) override {
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CHECK(local_trajectory_builder_)
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<< "Cannot add TimedPointCloudData without a LocalTrajectoryBuilder.";
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std::unique_ptr<typename LocalTrajectoryBuilder::MatchingResult>
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matching_result = local_trajectory_builder_->AddRangeData(
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sensor_id, timed_point_cloud_data);
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if (matching_result == nullptr) {
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// The range data has not been fully accumulated yet.
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return;
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}
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kLocalSlamMatchingResults->Increment();
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std::unique_ptr<InsertionResult> insertion_result;
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if (matching_result->insertion_result != nullptr) {
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kLocalSlamInsertionResults->Increment();
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auto node_id = pose_graph_->AddNode(
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matching_result->insertion_result->constant_data, trajectory_id_,
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matching_result->insertion_result->insertion_submaps);
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CHECK_EQ(node_id.trajectory_id, trajectory_id_);
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insertion_result = absl::make_unique<InsertionResult>(InsertionResult{
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node_id, matching_result->insertion_result->constant_data,
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std::vector<std::shared_ptr<const Submap>>(
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matching_result->insertion_result->insertion_submaps.begin(),
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matching_result->insertion_result->insertion_submaps.end())});
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}
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if (local_slam_result_callback_) {
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local_slam_result_callback_(
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trajectory_id_, matching_result->time, matching_result->local_pose,
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std::move(matching_result->range_data_in_local),
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std::move(insertion_result));
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}
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}
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void AddSensorData(const std::string& sensor_id,
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const sensor::ImuData& imu_data) override {
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if (local_trajectory_builder_) {
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local_trajectory_builder_->AddImuData(imu_data);
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}
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pose_graph_->AddImuData(trajectory_id_, imu_data);
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}
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void AddSensorData(const std::string& sensor_id,
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const sensor::OdometryData& odometry_data) override {
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CHECK(odometry_data.pose.IsValid()) << odometry_data.pose;
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if (local_trajectory_builder_) {
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local_trajectory_builder_->AddOdometryData(odometry_data);
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}
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// TODO(MichaelGrupp): Instead of having an optional filter on this level,
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// odometry could be marginalized between nodes in the pose graph.
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// Related issue: cartographer-project/cartographer/#1768
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if (pose_graph_odometry_motion_filter_.has_value() &&
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pose_graph_odometry_motion_filter_.value().IsSimilar(
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odometry_data.time, odometry_data.pose)) {
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return;
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}
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pose_graph_->AddOdometryData(trajectory_id_, odometry_data);
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}
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void AddSensorData(
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const std::string& sensor_id,
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const sensor::FixedFramePoseData& fixed_frame_pose) override {
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if (fixed_frame_pose.pose.has_value()) {
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CHECK(fixed_frame_pose.pose.value().IsValid())
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<< fixed_frame_pose.pose.value();
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}
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pose_graph_->AddFixedFramePoseData(trajectory_id_, fixed_frame_pose);
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}
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void AddSensorData(const std::string& sensor_id,
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const sensor::LandmarkData& landmark_data) override {
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pose_graph_->AddLandmarkData(trajectory_id_, landmark_data);
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}
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void AddLocalSlamResultData(std::unique_ptr<mapping::LocalSlamResultData>
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local_slam_result_data) override {
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CHECK(!local_trajectory_builder_) << "Can't add LocalSlamResultData with "
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"local_trajectory_builder_ present.";
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local_slam_result_data->AddToPoseGraph(trajectory_id_, pose_graph_);
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}
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private:
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const int trajectory_id_;
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PoseGraph* const pose_graph_;
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std::unique_ptr<LocalTrajectoryBuilder> local_trajectory_builder_;
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LocalSlamResultCallback local_slam_result_callback_;
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absl::optional<MotionFilter> pose_graph_odometry_motion_filter_;
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};
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} // namespace
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std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder2D(
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std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder,
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const int trajectory_id, mapping::PoseGraph2D* const pose_graph,
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const TrajectoryBuilderInterface::LocalSlamResultCallback&
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local_slam_result_callback,
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const absl::optional<MotionFilter>& pose_graph_odometry_motion_filter) {
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return absl::make_unique<
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GlobalTrajectoryBuilder<LocalTrajectoryBuilder2D, mapping::PoseGraph2D>>(
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std::move(local_trajectory_builder), trajectory_id, pose_graph,
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local_slam_result_callback, pose_graph_odometry_motion_filter);
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}
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std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D(
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std::unique_ptr<LocalTrajectoryBuilder3D> local_trajectory_builder,
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const int trajectory_id, mapping::PoseGraph3D* const pose_graph,
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const TrajectoryBuilderInterface::LocalSlamResultCallback&
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local_slam_result_callback,
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const absl::optional<MotionFilter>& pose_graph_odometry_motion_filter) {
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return absl::make_unique<
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GlobalTrajectoryBuilder<LocalTrajectoryBuilder3D, mapping::PoseGraph3D>>(
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std::move(local_trajectory_builder), trajectory_id, pose_graph,
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local_slam_result_callback, pose_graph_odometry_motion_filter);
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}
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void GlobalTrajectoryBuilderRegisterMetrics(metrics::FamilyFactory* factory) {
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auto* results = factory->NewCounterFamily(
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"mapping_global_trajectory_builder_local_slam_results",
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"Local SLAM results");
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kLocalSlamMatchingResults = results->Add({{"type", "MatchingResult"}});
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kLocalSlamInsertionResults = results->Add({{"type", "InsertionResult"}});
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}
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} // namespace mapping
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} // namespace cartographer
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