refactor to completely outsource network transfer capability to trans…

…folder

applications/maplab-server-node/include/maplab-server-node/maplab-server-config.h

@@ -7,63 +7,24 @@
 #include <aslam/common/yaml-file-serialization.h>
 #include <aslam/common/yaml-serialization.h>
 
+DECLARE_string(maplab_server_merged_map_folder);
+DECLARE_string(maplab_server_resource_folder);
+DECLARE_int32(maplab_server_backup_interval_s);
+
 namespace maplab {
 
 class MaplabServerNodeConfig : public aslam::YamlFileSerializable {
  public:
-  // Server config:
-  // Where the finished/intermediate maps should be stored. Not optional.
-  std::string map_folder = "";
-
-  // If empty, the standard map resource folder is used.
-  std::string resource_folder = "";
-
-  // Create a backup of the current map every n seconds. 0 = no backups.
-  size_t map_backup_interval_s = 0u;
-
   std::vector<std::string> submap_commands;
   std::vector<std::string> global_map_commands;
 
   bool deserialize(const YAML::Node& config_node) override;
   void serialize(YAML::Node* config_node_ptr) const override;
 
-  const std::string kYamlFieldNameMapFolder = "map_folder";
-  const std::string kYamlFieldNameResourceFolder = "resource_folder";
-  const std::string kYamlFieldNameBackupInterval = "map_backup_interval_s";
-
   const std::string kYamlFieldNameSubmapCommands = "submap_commands";
   const std::string kYamlFieldNameGlobalMapCommands = "global_map_commands";
 };
 
-struct RobotConnectionConfig {
-  std::string name;
-
-  // Topic on which map updates and locations are published.
-  std::string topic;
-
-  // Login info to transfer maps from the robot.
-  std::string ip;
-  std::string user;
-};
-
-struct MaplabServerRosNodeConfig : public aslam::YamlFileSerializable {
-  MaplabServerNodeConfig server_config;
-
-  // Robot fleet config:
-  std::vector<RobotConnectionConfig> connection_config;
-
-  bool deserialize(const YAML::Node& config_node) override;
-  void serialize(YAML::Node* config_node_ptr) const override;
-
-  const std::string kYamlFieldNameServerConfig = "server_config";
-
-  const std::string kYamlFieldNameRobotFleet = "connection_config";
-  const std::string kYamlFieldNameRobotName = "name";
-  const std::string kYamlFieldNameRobotIp = "ip";
-  const std::string kYamlFieldNameRobotTopic = "topic";
-  const std::string kYamlFieldNameRobotUser = "user";
-};
-
 }  // namespace maplab
 
 #endif  // MAPLAB_SERVER_NODE_MAPLAB_SERVER_CONFIG_H_

applications/maplab-server-node/include/maplab-server-node/maplab-server-node.h

@@ -59,7 +59,6 @@ class MaplabServerNode final {
 
   bool loadAndProcessSubmap(
       const std::string& robot_name, const std::string& submap_path);
-  bool loadAndProcessSubmap(const std::string& submap_path);
 
   // Save the map to disk.
   bool saveMap(const std::string& path);

applications/maplab-server-node/include/maplab-server-node/maplab-server-ros-node.h

@@ -5,6 +5,7 @@
 #include <string>
 #include <vector>
 
+#include <diagnostic_msgs/KeyValue.h>
 #include <maplab_msgs/BatchMapLookup.h>
 #include <ros/ros.h>
 #include <std_msgs/String.h>
@@ -20,14 +21,12 @@ class MaplabServerRosNode {
       const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
 
   // Only for test purposes.
-  explicit MaplabServerRosNode(const MaplabServerRosNodeConfig& config);
+  explicit MaplabServerRosNode(const MaplabServerNodeConfig& config);
 
   // Start the app.
   bool start();
 
-  void submapLoadingCallback(
-      const std_msgs::StringConstPtr& msg,
-      const RobotConnectionConfig& robot_config);
+  void submapLoadingCallback(const diagnostic_msgs::KeyValueConstPtr& msg);
 
   // Save current map.
   bool saveMap(const std::string& map_folder);
@@ -47,8 +46,6 @@ class MaplabServerRosNode {
   void visualizeMap();
 
  private:
-  MaplabServerRosNodeConfig config_;
-
   // ROS stuff.
   ros::NodeHandle nh_;
   ros::NodeHandle nh_private_;
@@ -62,7 +59,7 @@ class MaplabServerRosNode {
   // One node to rule them all.
   std::unique_ptr<MaplabServerNode> maplab_server_node_;
 
-  std::vector<ros::Subscriber> map_update_notification_subs_;
+  ros::Subscriber map_update_notification_sub_;
 };
 
 }  // namespace maplab

applications/maplab-server-node/package.xml

@@ -12,6 +12,7 @@
 	<buildtool_depend>catkin</buildtool_depend>
 
 	<depend>aslam_cv_common</depend>
+	<depend>diagnostic_msgs</depend>
 	<depend>gflags_catkin</depend>
 	<depend>glog_catkin</depend>
 	<depend>maplab_common</depend>

applications/maplab-server-node/share/euroc/euroc-maplab-server-config.yaml

@@ -1,35 +1,8 @@
-server_config:
-  map_folder:            "/tmp/euroc/maplab_server_map"
-  resource_folder:       ""
-  map_backup_interval_s: 300
+submap_commands:
+  - "optvi --ba_num_iterations=20 --ba_enable_signal_handler=false"
 
-  submap_commands:
-    - "optvi --ba_num_iterations=20 --ba_enable_signal_handler=false"
-
-  global_map_commands:
-    - "aam"
-    - "lc"
-    - "optvi --ba_num_iterations 1 --ba_enable_signal_handler=false"
-    - "elq --vi_map_landmark_quality_min_observers=2"
-
-connection_config:
-  - name:                euroc_mh_1
-    topic:               "/euroc_mh_1/maplab_node/map_update_notification"
-    ip:                  "localhost"
-    user:                "mfehr"
-  - name:                euroc_mh_2
-    topic:               "/euroc_mh_2/maplab_node/map_update_notification"
-    ip:                  "localhost"
-    user:                "mfehr"
-  - name:                euroc_mh_3
-    topic:               "/euroc_mh_3/maplab_node/map_update_notification"
-    ip:                  "localhost"
-    user:                "mfehr"
-  - name:                euroc_mh_4
-    topic:               "/euroc_mh_4/maplab_node/map_update_notification"
-    ip:                  "localhost"
-    user:                "mfehr"
-  - name:                euroc_mh_5
-    topic:               "/euroc_mh_5/maplab_node/map_update_notification"
-    ip:                  "localhost"
-    user:                "mfehr"
+global_map_commands:
+  - "aam --lc_mission_baseframe_min_inlier_ratio=0.05 --lc_min_inlier_ratio=0.05 --lc_min_inlier_count=5 --lc_ransac_pixel_sigma=3"
+  - "lc"
+  - "optvi --ba_num_iterations 1 --ba_enable_signal_handler=false"
+  - "elq --vi_map_landmark_quality_min_observers=2"

applications/maplab-server-node/share/example-server-config.yaml

@@ -1,20 +1,9 @@
-server_config:
-  map_folder:            "/tmp/maplab_server_node/combined_map"
-  resource_folder:       "/tmp/maplab_server_node/combined_map_resources"
-  map_backup_interval_s: 300
+submap_commands:
+  - "lc"
+  - "optvi --ba_num_iterations=20 --ba_enable_signal_handler=false"
 
-  submap_commands:
-    - "lc"
-    - "optvi --ba_num_iterations=20 --ba_enable_signal_handler=false"
-
-  global_map_commands:
-    - "lc"
-    - "optvi --ba_num_iterations=3 --ba_enable_signal_handler=false"
-    - "elq --vi_map_landmark_quality_min_observers=2"
-    - "rbl"
-
-connection_config:
-  - name:                local_maplab_node
-    topic:               "/maplab_node/map_update_notification"
-    ip:                  "localhost"
-    user:                ""
+global_map_commands:
+  - "lc"
+  - "optvi --ba_num_iterations=3 --ba_enable_signal_handler=false"
+  - "elq --vi_map_landmark_quality_min_observers=2"
+  - "rbl"

applications/maplab-server-node/src/maplab-server-config.cc

@@ -1,110 +1,19 @@
 #include "maplab-server-node/maplab-server-config.h"
 
-namespace maplab {
-
-bool MaplabServerRosNodeConfig::deserialize(const YAML::Node& config_node) {
-  if (!config_node.IsDefined() || config_node.IsNull()) {
-    LOG(ERROR) << "Invalid YAML node for maplab server config deserialization.";
-    return false;
-  }
-
-  if (!config_node.IsMap()) {
-    LOG(WARNING) << "Maplab server config YAML node must be a map.";
-    return false;
-  }
+DEFINE_string(
+    maplab_server_merged_map_folder, "",
+    "Where the finished/intermediate maps should be stored. Not optional.");
 
-  const YAML::Node& server_config_node =
-      config_node[kYamlFieldNameServerConfig];
-  server_config.deserialize(server_config_node);
+DEFINE_string(
+    maplab_server_resource_folder, "",
+    "Where the resources of the merged map should be stored, if empty, the "
+    "standard map resource folder is used.");
 
-  // Parse the robot fleet config.
-  const YAML::Node& robot_fleet_node = config_node[kYamlFieldNameRobotFleet];
-  if (!robot_fleet_node.IsDefined() || robot_fleet_node.IsNull()) {
-    LOG(ERROR) << "Invalid maplab server config YAML. Can not parse robot "
-               << "fleet config, since the '" << kYamlFieldNameRobotFleet
-               << "' field is missing!";
-    return false;
-  }
+DEFINE_int32(
+    maplab_server_backup_interval_s, 300,
+    "Create a backup of the current map every n seconds. 0 = no backups.");
 
-  if (!robot_fleet_node.IsSequence()) {
-    LOG(ERROR) << "Invalid maplab server config YAML. Can not parse robot "
-               << "fleet config, since the '" << kYamlFieldNameRobotFleet
-               << "' field is not a sequence!";
-    return false;
-  }
-  size_t num_robots = robot_fleet_node.size();
-  if (num_robots == 0) {
-    LOG(ERROR) << "Invalid maplab server config YAML. Can not parse robot "
-               << "fleet config, since the '" << kYamlFieldNameRobotFleet
-               << "' field does not contain any entries!";
-    return false;
-  }
-
-  for (size_t robot_index = 0; robot_index < num_robots; ++robot_index) {
-    // Decode the camera
-    const YAML::Node& robot_node = robot_fleet_node[robot_index];
-    if (!robot_node) {
-      LOG(ERROR) << "Unable to get YAML node for robot fleet config at index "
-                 << robot_index;
-      return false;
-    }
-
-    if (!robot_node.IsMap()) {
-      LOG(ERROR) << "YAML node for robot fleet config at index " << robot_index
-                 << " is not a map!";
-      return false;
-    }
-
-    RobotConnectionConfig robot_config;
-
-    if (YAML::safeGet(
-            robot_node, kYamlFieldNameRobotName, &robot_config.name)) {
-      CHECK(!robot_config.name.empty());
-    } else {
-      LOG(ERROR) << "YAML node for robot fleet config at index " << robot_index
-                 << " does not contain the '" << kYamlFieldNameRobotName
-                 << "' field!";
-      return false;
-    }
-
-    if (YAML::safeGet(robot_node, kYamlFieldNameRobotIp, &robot_config.ip)) {
-      CHECK(!robot_config.ip.empty());
-    } else {
-      LOG(ERROR) << "YAML node for robot fleet config at index " << robot_index
-                 << " does not contain the '" << kYamlFieldNameRobotIp
-                 << "' field!";
-      return false;
-    }
-
-    if (YAML::safeGet(
-            robot_node, kYamlFieldNameRobotTopic, &robot_config.topic)) {
-      CHECK(!robot_config.topic.empty());
-    } else {
-      LOG(ERROR) << "YAML node for robot fleet config at index " << robot_index
-                 << " does not contain the '" << kYamlFieldNameRobotTopic
-                 << "' field!";
-      return false;
-    }
-
-    if (YAML::safeGet(
-            robot_node, kYamlFieldNameRobotUser, &robot_config.user)) {
-      CHECK(!robot_config.user.empty());
-    } else {
-      LOG(ERROR) << "YAML node for robot fleet config at index " << robot_index
-                 << " does not contain the '" << kYamlFieldNameRobotUser
-                 << "' field!";
-      return false;
-    }
-
-    connection_config.push_back(robot_config);
-  }
-  return true;
-}
-
-void MaplabServerRosNodeConfig::serialize(
-    YAML::Node* /*config_node_ptr*/) const {
-  LOG(FATAL) << "Currently not implemented!";
-}
+namespace maplab {
 
 bool MaplabServerNodeConfig::deserialize(const YAML::Node& config_node) {
   if (!config_node.IsDefined() || config_node.IsNull()) {
@@ -117,18 +26,6 @@ bool MaplabServerNodeConfig::deserialize(const YAML::Node& config_node) {
     return false;
   }
 
-  if (YAML::safeGet(config_node, kYamlFieldNameMapFolder, &map_folder)) {
-    CHECK(!map_folder.empty());
-  } else {
-    LOG(WARNING) << "Maplab server config YAML needs a '"
-                 << kYamlFieldNameMapFolder << "' field!";
-    return false;
-  }
-
-  YAML::safeGet(config_node, kYamlFieldNameResourceFolder, &resource_folder);
-  YAML::safeGet(
-      config_node, kYamlFieldNameBackupInterval, &map_backup_interval_s);
-
   // Parse submap and global map commands.
   const YAML::Node& submap_commands_node =
       config_node[kYamlFieldNameSubmapCommands];