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write YAML for ROS map_server #1834

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b794a9d
write YAML for ROS map_server
kingsimba May 8, 2021
121d239
fix testing
kingsimba May 20, 2021
718c376
Merge branch 'master' into yaml_for_ros_map_server
kingsimba Oct 10, 2022
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37 changes: 33 additions & 4 deletions cartographer/io/probability_grid_points_processor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@

#include "Eigen/Core"
#include "absl/memory/memory.h"
#include "absl/strings/str_format.h"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/math.h"
#include "cartographer/io/draw_trajectories.h"
Expand Down Expand Up @@ -84,12 +85,14 @@ ProbabilityGridPointsProcessor::ProbabilityGridPointsProcessor(
probability_grid_range_data_inserter_options,
const DrawTrajectories& draw_trajectories, const OutputType& output_type,
std::unique_ptr<FileWriter> file_writer,
std::unique_ptr<FileWriter> yaml_file_writer,
const std::vector<mapping::proto::Trajectory>& trajectories,
PointsProcessor* const next)
: draw_trajectories_(draw_trajectories),
output_type_(output_type),
trajectories_(trajectories),
file_writer_(std::move(file_writer)),
yaml_file_writer_(std::move(yaml_file_writer)),
next_(next),
range_data_inserter_(probability_grid_range_data_inserter_options),
probability_grid_(
Expand All @@ -114,14 +117,16 @@ ProbabilityGridPointsProcessor::FromDictionary(
dictionary->HasKey("output_type")
? OutputTypeFromString(dictionary->GetString("output_type"))
: OutputType::kPng;

std::string filename = dictionary->GetString("filename") +
FileExtensionFromOutputType(output_type);

return absl::make_unique<ProbabilityGridPointsProcessor>(
dictionary->GetDouble("resolution"),
mapping::CreateProbabilityGridRangeDataInserterOptions2D(
dictionary->GetDictionary("range_data_inserter").get()),
draw_trajectories, output_type,
file_writer_factory(dictionary->GetString("filename") +
FileExtensionFromOutputType(output_type)),
trajectories, next);
draw_trajectories, output_type, file_writer_factory(filename),
file_writer_factory(filename + ".yaml"), trajectories, next);
}

void ProbabilityGridPointsProcessor::Process(
Expand All @@ -145,6 +150,30 @@ PointsProcessor::FlushResult ProbabilityGridPointsProcessor::Flush() {
}
image->WritePng(file_writer_.get());
CHECK(file_writer_->Close());

// write YAML which confirms to http://wiki.ros.org/map_server
const char* format =
"image: %s\n"
"resolution: %f\n"
"origin: [%f, %f, 0]\n"
"occupied_thresh: 0.65\n"
"free_thresh: 0.196\n"
"negate: 0\n";

const cartographer::mapping::MapLimits& limits =
probability_grid_.limits();
const cartographer::mapping::CellLimits& cell_limits =
limits.cell_limits();

double resolution = limits.resolution();
std::string yaml_str = absl::StrFormat(
format, file_writer_->GetFilename().c_str(), resolution,
limits.max().x() -
resolution * (cell_limits.num_x_cells - offset.x()),
limits.max().y() -
resolution * (cell_limits.num_y_cells - offset.y()));
yaml_file_writer_->Write(yaml_str.c_str(), yaml_str.length());
CHECK(yaml_file_writer_->Close());
}
} else if (output_type_ == OutputType::kPb) {
const auto probability_grid_proto = probability_grid_.ToProto();
Expand Down
2 changes: 2 additions & 0 deletions cartographer/io/probability_grid_points_processor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
probability_grid_range_data_inserter_options,
const DrawTrajectories& draw_trajectories, const OutputType& output_type,
std::unique_ptr<FileWriter> file_writer,
std::unique_ptr<FileWriter> yaml_file_writer,
const std::vector<mapping::proto::Trajectory>& trajectories,
PointsProcessor* next);
ProbabilityGridPointsProcessor(const ProbabilityGridPointsProcessor&) =
Expand All @@ -70,6 +71,7 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
const OutputType output_type_;
const std::vector<mapping::proto::Trajectory> trajectories_;
std::unique_ptr<FileWriter> file_writer_;
std::unique_ptr<FileWriter> yaml_file_writer_;
PointsProcessor* const next_;
mapping::ProbabilityGridRangeDataInserter2D range_data_inserter_;
mapping::ValueConversionTables conversion_tables_;
Expand Down
19 changes: 12 additions & 7 deletions cartographer/io/probability_grid_points_processor_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -44,11 +44,15 @@ std::unique_ptr<PointsBatch> CreatePointsBatch() {
}

::cartographer::io::FileWriterFactory CreateFakeFileWriterFactory(
const std::string& expected_filename,
const std::string& expected_filename1,
const std::string& expected_filename2,
std::shared_ptr<std::vector<char>> fake_file_writer_output) {
return [&fake_file_writer_output,
&expected_filename](const std::string& full_filename) {
EXPECT_EQ(expected_filename, full_filename);
return [&fake_file_writer_output, &expected_filename1,
&expected_filename2](const std::string& full_filename) {
EXPECT_PRED3(
[](auto str, auto s1, auto s2) { return str == s1 || str == s2; },
full_filename, expected_filename1, expected_filename2);

return ::absl::make_unique<::cartographer::io::FakeFileWriter>(
full_filename, fake_file_writer_output);
};
Expand Down Expand Up @@ -125,10 +129,11 @@ class ProbabilityGridPointsProcessorTest : public ::testing::Test {
ProbabilityGridPointsProcessorTest()
: pipeline_dictionary_(CreateParameterDictionary()) {}

void Run(const std::string& expected_filename) {
void Run(const std::string& expected_filename1,
const std::string& expected_filename2) {
const auto pipeline = CreatePipelineFromDictionary(
pipeline_dictionary_.get(), dummy_trajectories_,
CreateFakeFileWriterFactory(expected_filename,
CreateFakeFileWriterFactory(expected_filename1, expected_filename2,
fake_file_writer_output_));
EXPECT_TRUE(pipeline.size() > 0);

Expand All @@ -149,7 +154,7 @@ TEST_F(ProbabilityGridPointsProcessorTest, WriteProto) {
const auto expected_prob_grid_proto = CreateExpectedProbabilityGrid(
CreatePointsBatch(),
pipeline_dictionary_->GetArrayValuesAsDictionaries().front().get());
Run("map.pb");
Run("map.pb", "map.pb.yaml");
EXPECT_THAT(*fake_file_writer_output_,
::testing::ContainerEq(expected_prob_grid_proto));
}
Expand Down