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未验证 提交 2c690eab 编写于 作者: W Weide Zhang 提交者： GitHub
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Dreamview: fix synchronized point cloud rendering in dreamview (#11105) 

* fix synchronized point cloud rendering in dreamview
1. synchronize timestamp when simulation world pushes to frontend
2. eliminate front end point cloud timer trigger
3. more smoother visualization

* address code review comments
1. restore old point cloud send logic
2. style fix
上级 cab60ea2
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Showing with 261 addition and 148 deletion
modules/dreamview/backend/dreamview.cc
浏览文件 @ 2c690eab
......@@ -56,9 +56,13 @@ Status Dreamview::Init() {
// Initialize and run the web server which serves the dreamview htmls and
// javascripts and handles websocket requests.
std::vector<std::string> options = {
"document_root", FLAGS_static_file_dir, "listening_ports",
FLAGS_server_ports, "websocket_timeout_ms", FLAGS_websocket_timeout_ms,
"request_timeout_ms", FLAGS_request_timeout_ms};
"document_root", FLAGS_static_file_dir,
"listening_ports", FLAGS_server_ports,
"websocket_timeout_ms", FLAGS_websocket_timeout_ms,
"request_timeout_ms", FLAGS_request_timeout_ms,
"enable_keep_alive", "yes",
"tcp_nodelay", "1",
"keep_alive_timeout_ms", "500"};
if (PathExists(FLAGS_ssl_certificate)) {
options.push_back("ssl_certificate");
options.push_back(FLAGS_ssl_certificate);
......@@ -84,7 +88,8 @@ Status Dreamview::Init() {
websocket_.get(), map_ws_.get(), camera_ws_.get(), sim_control_.get(),
map_service_.get(), data_collection_monitor_.get(),
perception_camera_updater_.get(), FLAGS_routing_from_file));
point_cloud_updater_.reset(new PointCloudUpdater(point_cloud_ws_.get()));
point_cloud_updater_.reset(
new PointCloudUpdater(point_cloud_ws_.get(), sim_world_updater_.get()));
hmi_.reset(new HMI(websocket_.get(), map_service_.get(),
data_collection_monitor_.get()));
......
modules/dreamview/backend/point_cloud/BUILD
浏览文件 @ 2c690eab
......@@ -12,6 +12,7 @@ cc_library(
"//modules/common/math",
"//modules/dreamview/backend/common:dreamview_gflags",
"//modules/dreamview/backend/handlers:websocket_handler",
"//modules/dreamview/backend/simulation_world:simulation_world_updater",
"//modules/dreamview/proto:point_cloud_proto",
"//modules/drivers/proto:sensor_proto",
"//modules/localization/proto:localization_proto",
......
modules/dreamview/backend/point_cloud/point_cloud_updater.cc
浏览文件 @ 2c690eab
......@@ -37,11 +37,13 @@ using Json = nlohmann::json;
float PointCloudUpdater::lidar_height_ = kDefaultLidarHeight;
boost::shared_mutex PointCloudUpdater::mutex_;
PointCloudUpdater::PointCloudUpdater(WebSocketHandler *websocket)
PointCloudUpdater::PointCloudUpdater(WebSocketHandler *websocket,
SimulationWorldUpdater *simworld_updater)
: node_(cyber::CreateNode("point_cloud")),
websocket_(websocket),
point_cloud_str_(""),
future_ready_(true) {
future_ready_(true),
simworld_updater_(simworld_updater) {
RegisterMessageHandlers();
}
......@@ -138,53 +140,78 @@ void PointCloudUpdater::Stop() {
}
}
pcl::PointCloud<pcl::PointXYZ>::Ptr PointCloudUpdater::ConvertPCLPointCloud(
const std::shared_ptr<drivers::PointCloud> &point_cloud) {
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_ptr(
new pcl::PointCloud<pcl::PointXYZ>);
pcl_ptr->width = point_cloud->width();
pcl_ptr->height = point_cloud->height();
pcl_ptr->is_dense = false;
if (point_cloud->width() * point_cloud->height() !=
static_cast<unsigned int>(point_cloud->point_size())) {
pcl_ptr->width = 1;
pcl_ptr->height = point_cloud->point_size();
}
pcl_ptr->points.resize(point_cloud->point_size());
for (size_t i = 0; i < pcl_ptr->points.size(); ++i) {
const auto &point = point_cloud->point(static_cast<int>(i));
pcl_ptr->points[i].x = point.x();
pcl_ptr->points[i].y = point.y();
pcl_ptr->points[i].z = point.z();
}
return pcl_ptr;
}
void PointCloudUpdater::UpdatePointCloud(
const std::shared_ptr<drivers::PointCloud> &point_cloud) {
if (!enabled_) {
return;
}
last_point_cloud_time_ = point_cloud->header().timestamp_sec();
if (simworld_updater_->LastAdcTimestampSec() == 0.0 ||
simworld_updater_->LastAdcTimestampSec() - last_point_cloud_time_ > 0.1) {
AWARN << "skipping outdated point cloud data";
return;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_ptr;
// Check if last filter process has finished before processing new data.
if (future_ready_) {
future_ready_ = false;
// transform from drivers::PointCloud to pcl::PointCloud
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_ptr(
new pcl::PointCloud<pcl::PointXYZ>);
pcl_ptr->width = point_cloud->width();
pcl_ptr->height = point_cloud->height();
pcl_ptr->is_dense = false;
if (point_cloud->width() * point_cloud->height() !=
static_cast<unsigned int>(point_cloud->point_size())) {
pcl_ptr->width = 1;
pcl_ptr->height = point_cloud->point_size();
}
pcl_ptr->points.resize(point_cloud->point_size());
for (size_t i = 0; i < pcl_ptr->points.size(); ++i) {
const auto &point = point_cloud->point(static_cast<int>(i));
pcl_ptr->points[i].x = point.x();
pcl_ptr->points[i].y = point.y();
pcl_ptr->points[i].z = point.z();
if (enable_voxel_filter_) {
if (future_ready_) {
future_ready_ = false;
// transform from drivers::PointCloud to pcl::PointCloud
pcl_ptr = ConvertPCLPointCloud(point_cloud);
std::future<void> f =
cyber::Async(&PointCloudUpdater::FilterPointCloud, this, pcl_ptr);
async_future_ = std::move(f);
}
std::future<void> f =
cyber::Async(&PointCloudUpdater::FilterPointCloud, this, pcl_ptr);
async_future_ = std::move(f);
} else {
pcl_ptr = ConvertPCLPointCloud(point_cloud);
this->FilterPointCloud(pcl_ptr);
}
}
void PointCloudUpdater::FilterPointCloud(
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_ptr) {
pcl::VoxelGrid<pcl::PointXYZ> voxel_grid;
voxel_grid.setInputCloud(pcl_ptr);
voxel_grid.setLeafSize(static_cast<float>(FLAGS_voxel_filter_size),
static_cast<float>(FLAGS_voxel_filter_size),
static_cast<float>(FLAGS_voxel_filter_height));
pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_filtered_ptr(
new pcl::PointCloud<pcl::PointXYZ>);
voxel_grid.filter(*pcl_filtered_ptr);
AINFO << "filtered point cloud data size: " << pcl_filtered_ptr->size();
/*
By default, disable voxel filter since it's taking more than 500ms
ideally the most efficient sampling method is to
use per beam random sample for organized cloud(TODO)
*/
if (enable_voxel_filter_) {
pcl::VoxelGrid<pcl::PointXYZ> voxel_grid;
voxel_grid.setInputCloud(pcl_ptr);
voxel_grid.setLeafSize(static_cast<float>(FLAGS_voxel_filter_size),
static_cast<float>(FLAGS_voxel_filter_size),
static_cast<float>(FLAGS_voxel_filter_height));
voxel_grid.filter(*pcl_filtered_ptr);
} else {
pcl_filtered_ptr = pcl_ptr;
}
float z_offset;
{
......@@ -208,9 +235,8 @@ void PointCloudUpdater::FilterPointCloud(
}
void PointCloudUpdater::UpdateLocalizationTime(
const std::shared_ptr<LocalizationEstimate> &localization) {
last_localization_time_ = localization->header().timestamp_sec();
const std::shared_ptr<LocalizationEstimate> &localization) {
last_localization_time_ = localization->header().timestamp_sec();
}
} // namespace dreamview
} // namespace apollo
modules/dreamview/backend/point_cloud/point_cloud_updater.h
浏览文件 @ 2c690eab
......@@ -29,6 +29,7 @@
#include "cyber/cyber.h"
#include "modules/common/util/string_util.h"
#include "modules/dreamview/backend/handlers/websocket_handler.h"
#include "modules/dreamview/backend/simulation_world/simulation_world_updater.h"
#include "modules/drivers/proto/pointcloud.pb.h"
#include "modules/localization/proto/localization.pb.h"
#include "pcl/point_cloud.h"
......@@ -52,8 +53,11 @@ class PointCloudUpdater {
* @brief Constructor with the websocket handler.
* @param websocket Pointer of the websocket handler that has been attached to
* the server.
* @param simulationworldupdater pointer
*/
explicit PointCloudUpdater(WebSocketHandler *websocket);
explicit PointCloudUpdater(WebSocketHandler *websocket,
SimulationWorldUpdater *sim_world_updater);
~PointCloudUpdater();
static void LoadLidarHeight(const std::string &file_path);
......@@ -82,6 +86,8 @@ class PointCloudUpdater {
void UpdateLocalizationTime(
const std::shared_ptr<apollo::localization::LocalizationEstimate>
&localization);
pcl::PointCloud<pcl::PointXYZ>::Ptr ConvertPCLPointCloud(
const std::shared_ptr<drivers::PointCloud> &point_cloud);
constexpr static float kDefaultLidarHeight = 1.91f;
......@@ -101,10 +107,10 @@ class PointCloudUpdater {
std::shared_ptr<cyber::Reader<apollo::localization::LocalizationEstimate>>
localization_reader_;
std::shared_ptr<cyber::Reader<drivers::PointCloud>> point_cloud_reader_;
double last_point_cloud_time_ = 0.0;
double last_localization_time_ = 0.0;
SimulationWorldUpdater *simworld_updater_;
bool enable_voxel_filter_ = false;
};
} // namespace dreamview
} // namespace apollo
modules/dreamview/backend/simulation_world/simulation_world_service.cc
浏览文件 @ 2c690eab
......@@ -461,7 +461,6 @@ void SimulationWorldService::UpdateSimulationWorld(
// message header. It is done on both the SimulationWorld object
// itself and its auto_driving_car() field.
auto_driving_car->set_timestamp_sec(localization.header().timestamp_sec());
ready_to_push_.store(true);
}
......
modules/dreamview/backend/simulation_world/simulation_world_updater.cc
浏览文件 @ 2c690eab
......@@ -412,6 +412,8 @@ void SimulationWorldUpdater::OnTimer() {
{
boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
last_pushed_adc_timestamp_sec_ =
sim_world_service_.world().auto_driving_car().timestamp_sec();
sim_world_service_.GetWireFormatString(
FLAGS_sim_map_radius, &simulation_world_,
&simulation_world_with_planning_data_);
......
modules/dreamview/backend/simulation_world/simulation_world_updater.h
浏览文件 @ 2c690eab
......@@ -77,6 +77,10 @@ class SimulationWorldUpdater {
// frontend.
static constexpr double kSimWorldTimeIntervalMs = 100;
double LastAdcTimestampSec() {
return last_pushed_adc_timestamp_sec_;
}
private:
/**
* @brief The callback function to get updates from SimulationWorldService,
......@@ -138,6 +142,8 @@ class SimulationWorldUpdater {
boost::shared_mutex mutex_;
std::unique_ptr<cyber::Timer> timer_;
volatile double last_pushed_adc_timestamp_sec_ = 0.0f;
};
} // namespace dreamview
......
modules/dreamview/frontend/dist/2.bundle.js
浏览文件 @ 2c690eab
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\ No newline at end of file
modules/dreamview/frontend/dist/2.bundle.js.map
浏览文件 @ 2c690eab
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modules/dreamview/frontend/dist/3.bundle.js
浏览文件 @ 2c690eab
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modules/dreamview/frontend/dist/3.bundle.js.map
浏览文件 @ 2c690eab
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modules/dreamview/frontend/dist/4.bundle.js
浏览文件 @ 2c690eab
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modules/dreamview/frontend/dist/4.bundle.js.map
浏览文件 @ 2c690eab
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modules/dreamview/frontend/dist/parameters.bundle.js
浏览文件 @ 2c690eab
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//# sourceMappingURL=parameters.bundle.js.map
\ No newline at end of file
modules/dreamview/frontend/dist/parameters.bundle.js.map
浏览文件 @ 2c690eab
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modules/dreamview/frontend/dist/worker.bundle.js
浏览文件 @ 2c690eab
因为 它太大了无法显示 source diff 。你可以改为 查看blob。
modules/dreamview/frontend/dist/worker.bundle.js.map
浏览文件 @ 2c690eab
因为 它太大了无法显示 source diff 。你可以改为 查看blob。
modules/dreamview/frontend/proto_bundle/sim_world_proto_bundle.json
浏览文件 @ 2c690eab
......@@ -4210,76 +4210,55 @@
},
"ChassisFeature": {
"fields": {
"messageTimestampSec": {
"type": "double",
"id": 1
},
"speedMps": {
"type": "float",
"id": 1
"id": 2
},
"throttlePercentage": {
"type": "float",
"id": 2
"id": 3
},
"brakePercentage": {
"type": "float",
"id": 3
"id": 4
},
"steeringPercentage": {
"type": "float",
"id": 4
"id": 5
},
"gearLocation": {
"type": "apollo.canbus.Chassis.GearPosition",
"id": 5
"id": 6
}
}
},
"LocalizationFeature": {
"fields": {
"position": {
"type": "apollo.common.PointENU",
"id": 1
},
"heading": {
"type": "double",
"id": 2
},
"linearVelocity": {
"type": "apollo.common.Point3D",
"id": 3
},
"linearAcceleration": {
"type": "apollo.common.Point3D",
"id": 4
},
"angularVelocity": {
"type": "apollo.common.Point3D",
"id": 5
}
}
},
"PerceptionObstacleFeature": {
"fields": {
"timestampSec": {
"messageTimestampSec": {
"type": "double",
"id": 1
},
"position": {
"type": "apollo.common.Point3D",
"type": "apollo.common.PointENU",
"id": 2
},
"theta": {
"heading": {
"type": "double",
"id": 3
},
"velocity": {
"linearVelocity": {
"type": "apollo.common.Point3D",
"id": 4
},
"acceleration": {
"linearAcceleration": {
"type": "apollo.common.Point3D",
"id": 5
},
"polygonPoint": {
"rule": "repeated",
"angularVelocity": {
"type": "apollo.common.Point3D",
"id": 6
}
......@@ -4337,6 +4316,61 @@
}
}
},
"TrajectoryPoint": {
"fields": {
"timestampSec": {
"type": "double",
"id": 1
},
"trajectoryPoint": {
"type": "TrajectoryPointFeature",
"id": 2
}
}
},
"PerceptionObstacleFeature": {
"fields": {
"timestampSec": {
"type": "double",
"id": 1
},
"position": {
"type": "apollo.common.Point3D",
"id": 2
},
"theta": {
"type": "double",
"id": 3
},
"velocity": {
"type": "apollo.common.Point3D",
"id": 4
},
"acceleration": {
"type": "apollo.common.Point3D",
"id": 5
},
"polygonPoint": {
"rule": "repeated",
"type": "apollo.common.Point3D",
"id": 6
}
}
},
"ObstacleTrajectoryFeature": {
"fields": {
"perceptionObstacleHistory": {
"rule": "repeated",
"type": "PerceptionObstacleFeature",
"id": 1
},
"evaluatedTrajectoryPoint": {
"rule": "repeated",
"type": "TrajectoryPoint",
"id": 2
}
}
},
"PredictionTrajectoryFeature": {
"fields": {
"probability": {
......@@ -4345,7 +4379,7 @@
},
"trajectoryPoint": {
"rule": "repeated",
"type": "TrajectoryPointFeature",
"type": "TrajectoryPoint",
"id": 2
}
}
......@@ -4404,9 +4438,8 @@
"type": "apollo.perception.PerceptionObstacle.Type",
"id": 5
},
"obstacleTrajectoryPoint": {
"rule": "repeated",
"type": "PerceptionObstacleFeature",
"obstacleTrajectory": {
"type": "ObstacleTrajectoryFeature",
"id": 6
},
"obstaclePrediction": {
......@@ -4431,12 +4464,44 @@
},
"TrafficLightFeature": {
"fields": {
"color": {
"type": "apollo.perception.TrafficLight.Color",
"id": 1
},
"id": {
"type": "string",
"id": 2
},
"confidence": {
"type": "double",
"id": 3,
"options": {
"default": 1
}
},
"trackingTime": {
"type": "double",
"id": 4
},
"blink": {
"type": "bool",
"id": 5
},
"remainingTime": {
"type": "double",
"id": 6
}
}
},
"TrafficLightDetectionFeature": {
"fields": {
"messageTimestampSec": {
"type": "double",
"id": 1
},
"color": {
"type": "apollo.perception.TrafficLight.Color",
"trafficLight": {
"rule": "repeated",
"type": "TrafficLightFeature",
"id": 2
}
}
......@@ -4452,7 +4517,7 @@
"id": 2
},
"trajectoryPoint": {
"type": "apollo.common.TrajectoryPoint",
"type": "TrajectoryPointFeature",
"id": 3
}
}
......@@ -4468,7 +4533,7 @@
},
"LearningDataFrame": {
"fields": {
"timestampSec": {
"messageTimestampSec": {
"type": "double",
"id": 1
},
......@@ -4501,9 +4566,8 @@
"type": "RoutingFeature",
"id": 8
},
"trafficLight": {
"rule": "repeated",
"type": "TrafficLightFeature",
"trafficLightDetection": {
"type": "TrafficLightDetectionFeature",
"id": 9
},
"adcTrajectoryPoint": {
......
modules/dreamview/frontend/src/renderer/point_cloud.js
浏览文件 @ 2c690eab
import * as THREE from "three";
const MAX_POINTS = 100000;
const MAX_POINTS = 200000;
const HEIGHT_COLOR_MAPPING = {
0.5: 0xFF0000,
1.0: 0xFF7F00,
......
modules/dreamview/frontend/src/store/websocket/index.js
浏览文件 @ 2c690eab
......@@ -41,10 +41,6 @@ function deduceWebsocketServerAddr(type) {
// invoked in production mode ("-p"). We rely on this to determine which
// websocket server to use.
const simWorldServerAddr = deduceWebsocketServerAddr("sim_world");
const WS = OFFLINE_PLAYBACK
? new OfflinePlaybackWebSocketEndpoint(simWorldServerAddr)
: new RealtimeWebSocketEndpoint(simWorldServerAddr);
export default WS;
const mapServerAddr = deduceWebsocketServerAddr("map");
export const MAP_WS = new MapDataWebSocketEndpoint(mapServerAddr);
......@@ -55,5 +51,12 @@ export const POINT_CLOUD_WS = new PointCloudWebSocketEndpoint(pointCloudServerAd
const cameraServerAddr = deduceWebsocketServerAddr("camera");
export const CAMERA_WS = new CameraDataWebSocketEndpoint(cameraServerAddr);
const WS = OFFLINE_PLAYBACK
? new OfflinePlaybackWebSocketEndpoint(simWorldServerAddr)
: new RealtimeWebSocketEndpoint(simWorldServerAddr);
WS.setPointCloudWS(POINT_CLOUD_WS);
export default WS;
const teleopServerAddr = deduceWebsocketServerAddr("teleop");
export const TELEOP_WS = new TeleopWebSocketEndpoint(teleopServerAddr);
modules/dreamview/frontend/src/store/websocket/websocket_point_cloud.js
浏览文件 @ 2c690eab
......@@ -7,6 +7,7 @@ export default class PointCloudWebSocketEndpoint {
this.serverAddr = serverAddr;
this.websocket = null;
this.worker = new Worker();
this.enabled = false;
}
initialize() {
......@@ -40,19 +41,23 @@ export default class PointCloudWebSocketEndpoint {
RENDERER.updatePointCloud(event.data);
}
};
// Request point cloud every 100ms.
clearInterval(this.timer);
this.timer = setInterval(() => {
if (this.websocket.readyState === this.websocket.OPEN
&& STORE.options.showPointCloud === true) {
this.websocket.send(JSON.stringify({
type : "RequestPointCloud"
}));
}
}, 200);
}
requestPointCloud() {
if (this.websocket.readyState === this.websocket.OPEN
&& STORE.options.showPointCloud === true) {
this.websocket.send(JSON.stringify({
type : "RequestPointCloud"
}));
}
}
isEnabled() {
return this.enabled;
}
togglePointCloud(enable) {
this.enabled = enable;
this.websocket.send(JSON.stringify({
type: "TogglePointCloud",
enable: enable,
......
modules/dreamview/frontend/src/store/websocket/websocket_realtime.js
浏览文件 @ 2c690eab
......@@ -16,7 +16,7 @@ export default class RealtimeWebSocketEndpoint {
this.routingTime = undefined;
this.currentMode = null;
this.worker = new Worker();
this.pointcloudWS = null;
this.requestHmiStatus = this.requestHmiStatus.bind(this);
}
......@@ -144,7 +144,9 @@ export default class RealtimeWebSocketEndpoint {
this.requestDefaultRoutingEndPoint();
this.updatePOI = false;
}
if (this.pointcloudWS.isEnabled()) {
this.pointcloudWS.requestPointCloud();
}
this.requestSimulationWorld(STORE.options.showPNCMonitor);
if (STORE.hmi.isCalibrationMode) {
this.requestDataCollectionProgress();
......@@ -328,4 +330,8 @@ export default class RealtimeWebSocketEndpoint {
type: "RequestDataCollectionProgress",
}));
}
setPointCloudWS(pointcloudws) {
this.pointcloudWS = pointcloudws;
}
}
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