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Rename options for consistency. (#686) 

"scan" is better named "node" if it refers to a node in global SLAM.

"penalty factor" is renamed "weight" for consistency with other similar options.

"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
master
Wolfgang Hess 2017-11-17 10:52:22 +01:00 committed by Wally B. Feed
parent 5ee830e8cc
commit 055728af93
26 changed files with 75 additions and 78 deletions
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2
cartographer/mapping/id.h
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@ -324,7 +324,7 @@ class MapById {
bool empty() const { return begin() == end(); }
// Returns an iterator to the the first element in the container belonging to
// Returns an iterator to the first element in the container belonging to
// trajectory 'trajectory_id' whose time is not considered to go before
// 'time', or EndOfTrajectory(trajectory_id) if all keys are considered to go
// before 'time'.

4
cartographer/mapping/pose_graph.cc
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@ -71,8 +71,8 @@ std::vector<PoseGraph::Constraint> FromProto(
proto::PoseGraphOptions CreatePoseGraphOptions(
common::LuaParameterDictionary* const parameter_dictionary) {
proto::PoseGraphOptions options;
options.set_optimize_every_n_scans(
parameter_dictionary->GetInt("optimize_every_n_scans"));
options.set_optimize_every_n_nodes(
parameter_dictionary->GetInt("optimize_every_n_nodes"));
*options.mutable_constraint_builder_options() =
pose_graph::CreateConstraintBuilderOptions(
parameter_dictionary->GetDictionary("constraint_builder").get());

10
cartographer/mapping/pose_graph/optimization_problem_options.cc
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@ -30,12 +30,10 @@ proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
parameter_dictionary->GetDouble("acceleration_weight"));
options.set_rotation_weight(
parameter_dictionary->GetDouble("rotation_weight"));
options.set_consecutive_scan_translation_penalty_factor(
parameter_dictionary->GetDouble(
"consecutive_scan_translation_penalty_factor"));
options.set_consecutive_scan_rotation_penalty_factor(
parameter_dictionary->GetDouble(
"consecutive_scan_rotation_penalty_factor"));
options.set_consecutive_node_translation_weight(
parameter_dictionary->GetDouble("consecutive_node_translation_weight"));
options.set_consecutive_node_rotation_weight(
parameter_dictionary->GetDouble("consecutive_node_rotation_weight"));
options.set_fixed_frame_pose_translation_weight(
parameter_dictionary->GetDouble("fixed_frame_pose_translation_weight"));
options.set_fixed_frame_pose_rotation_weight(

8
cartographer/mapping/pose_graph/proto/optimization_problem_options.proto
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@ -29,11 +29,11 @@ message OptimizationProblemOptions {
// Scaling parameter for the IMU rotation term.
double rotation_weight = 9;
// Penalty factors for translation changes to the relative pose between consecutive scans.
double consecutive_scan_translation_penalty_factor = 2;
// Scaling parameter for translation between consecutive nodes.
double consecutive_node_translation_weight = 2;
// Penalty factors for rotation changes to the relative pose between consecutive scans.
double consecutive_scan_rotation_penalty_factor = 3;
// Scaling parameter for rotation between consecutive nodes.
double consecutive_node_rotation_weight = 3;
// Scaling parameter for the FixedFramePose translation.
double fixed_frame_pose_translation_weight = 11;

4
cartographer/mapping/proto/pose_graph_options.proto
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@ -22,7 +22,7 @@ import "cartographer/mapping/pose_graph/proto/optimization_problem_options.proto
message PoseGraphOptions {
// Online loop closure: If positive, will run the loop closure while the map
// is built.
int32 optimize_every_n_scans = 1;
int32 optimize_every_n_nodes = 1;
// Options for the constraint builder.
mapping.pose_graph.proto.ConstraintBuilderOptions
@ -44,7 +44,7 @@ message PoseGraphOptions {
// optimization.
int32 max_num_final_iterations = 6;
// Rate at which we sample a single trajectory's scans for global
// Rate at which we sample a single trajectory's nodes for global
// localization.
double global_sampling_ratio = 5;

2
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -125,7 +125,7 @@ LocalTrajectoryBuilder::AddRangeData(const common::Time time,
}
++num_accumulated_;
if (num_accumulated_ >= options_.scans_per_accumulation()) {
if (num_accumulated_ >= options_.num_accumulated_range_data()) {
num_accumulated_ = 0;
const transform::Rigid3d gravity_alignment = transform::Rigid3d::Rotation(
extrapolator_->EstimateGravityOrientation(time));

4
cartographer/mapping_2d/local_trajectory_builder_options.cc
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@ -34,8 +34,8 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
options.set_max_z(parameter_dictionary->GetDouble("max_z"));
options.set_missing_data_ray_length(
parameter_dictionary->GetDouble("missing_data_ray_length"));
options.set_scans_per_accumulation(
parameter_dictionary->GetInt("scans_per_accumulation"));
options.set_num_accumulated_range_data(
parameter_dictionary->GetInt("num_accumulated_range_data"));
options.set_voxel_filter_size(
parameter_dictionary->GetDouble("voxel_filter_size"));
options.set_use_online_correlative_scan_matching(

4
cartographer/mapping_2d/pose_graph.cc
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@ -269,8 +269,8 @@ void PoseGraph::ComputeConstraintsForNode(
}
constraint_builder_.NotifyEndOfNode();
++num_nodes_since_last_loop_closure_;
if (options_.optimize_every_n_scans() > 0 &&
num_nodes_since_last_loop_closure_ > options_.optimize_every_n_scans()) {
if (options_.optimize_every_n_nodes() > 0 &&
num_nodes_since_last_loop_closure_ > options_.optimize_every_n_nodes()) {
CHECK(!run_loop_closure_);
run_loop_closure_ = true;
// If there is a 'work_queue_' already, some other thread will take care.

5
cartographer/mapping_2d/pose_graph/optimization_problem.cc
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@ -189,9 +189,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
problem.AddResidualBlock(
new ceres::AutoDiffCostFunction<SpaCostFunction, 3, 3, 3>(
new SpaCostFunction(Constraint::Pose{
relative_pose,
options_.consecutive_scan_translation_penalty_factor(),
options_.consecutive_scan_rotation_penalty_factor()})),
relative_pose, options_.consecutive_node_translation_weight(),
options_.consecutive_node_rotation_weight()})),
nullptr /* loss function */, C_nodes.at(first_node_id).data(),
C_nodes.at(second_node_id).data());
}

6
cartographer/mapping_2d/pose_graph_test.cc
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@ -65,7 +65,7 @@ class PoseGraphTest : public ::testing::Test {
{
auto parameter_dictionary = common::MakeDictionary(R"text(
return {
optimize_every_n_scans = 1000,
optimize_every_n_nodes = 1000,
constraint_builder = {
sampling_ratio = 1.,
max_constraint_distance = 6.,
@ -116,8 +116,8 @@ class PoseGraphTest : public ::testing::Test {
acceleration_weight = 1.,
rotation_weight = 1e2,
huber_scale = 1.,
consecutive_scan_translation_penalty_factor = 0.,
consecutive_scan_rotation_penalty_factor = 0.,
consecutive_node_translation_weight = 0.,
consecutive_node_rotation_weight = 0.,
fixed_frame_pose_translation_weight = 1e1,
fixed_frame_pose_rotation_weight = 1e2,
log_solver_summary = true,

6
cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
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@ -32,9 +32,9 @@ message LocalTrajectoryBuilderOptions {
// Points beyond 'max_range' will be inserted with this length as empty space.
float missing_data_ray_length = 16;
// Number of scans to accumulate into one unwarped, combined scan to use for
// scan matching.
int32 scans_per_accumulation = 19;
// Number of range data to accumulate into one unwarped, combined range data
// to use for scan matching.
int32 num_accumulated_range_data = 19;
// Voxel filter that gets applied to the range data immediately after
// cropping.

6
cartographer/mapping_2d/proto/submaps_options.proto
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@ -22,9 +22,9 @@ message SubmapsOptions {
// Resolution of the map in meters.
double resolution = 1;
// Number of scans before adding a new submap. Each submap will get twice the
// number of scans inserted: First for initialization without being matched
// against, then while being matched.
// Number of range data before adding a new submap. Each submap will get twice
// the number of range data inserted: First for initialization without being
// matched against, then while being matched.
int32 num_range_data = 3;
RangeDataInserterOptions range_data_inserter_options = 5;

2
cartographer/mapping_3d/local_trajectory_builder.cc
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@ -98,7 +98,7 @@ LocalTrajectoryBuilder::AddRangeData(const common::Time time,
}
++num_accumulated_;
if (num_accumulated_ >= options_.scans_per_accumulation()) {
if (num_accumulated_ >= options_.num_accumulated_range_data()) {
num_accumulated_ = 0;
const sensor::RangeData filtered_range_data = {
accumulated_range_data_.origin,

4
cartographer/mapping_3d/local_trajectory_builder_options.cc
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@ -31,8 +31,8 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
proto::LocalTrajectoryBuilderOptions options;
options.set_min_range(parameter_dictionary->GetDouble("min_range"));
options.set_max_range(parameter_dictionary->GetDouble("max_range"));
options.set_scans_per_accumulation(
parameter_dictionary->GetInt("scans_per_accumulation"));
options.set_num_accumulated_range_data(
parameter_dictionary->GetInt("num_accumulated_range_data"));
options.set_voxel_filter_size(
parameter_dictionary->GetDouble("voxel_filter_size"));
*options.mutable_high_resolution_adaptive_voxel_filter_options() =

2
cartographer/mapping_3d/local_trajectory_builder_test.cc
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@ -49,7 +49,7 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
return {
min_range = 0.5,
max_range = 50.,
scans_per_accumulation = 1,
num_accumulated_range_data = 1,
voxel_filter_size = 0.05,
high_resolution_adaptive_voxel_filter = {

4
cartographer/mapping_3d/pose_graph.cc
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@ -286,8 +286,8 @@ void PoseGraph::ComputeConstraintsForNode(
}
constraint_builder_.NotifyEndOfNode();
++num_nodes_since_last_loop_closure_;
if (options_.optimize_every_n_scans() > 0 &&
num_nodes_since_last_loop_closure_ > options_.optimize_every_n_scans()) {
if (options_.optimize_every_n_nodes() > 0 &&
num_nodes_since_last_loop_closure_ > options_.optimize_every_n_nodes()) {
CHECK(!run_loop_closure_);
run_loop_closure_ = true;
// If there is a 'work_queue_' already, some other thread will take care.

4
cartographer/mapping_3d/pose_graph/optimization_problem.cc
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@ -354,8 +354,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
new ceres::AutoDiffCostFunction<SpaCostFunction, 6, 4, 3, 4, 3>(
new SpaCostFunction(Constraint::Pose{
relative_pose,
options_.consecutive_scan_translation_penalty_factor(),
options_.consecutive_scan_rotation_penalty_factor()})),
options_.consecutive_node_translation_weight(),
options_.consecutive_node_rotation_weight()})),
nullptr /* loss function */, C_nodes.at(first_node_id).rotation(),
C_nodes.at(first_node_id).translation(),
C_nodes.at(second_node_id).rotation(),

4
cartographer/mapping_3d/pose_graph/optimization_problem_test.cc
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@ -43,8 +43,8 @@ class OptimizationProblemTest : public ::testing::Test {
acceleration_weight = 1e-4,
rotation_weight = 1e-2,
huber_scale = 1.,
consecutive_scan_translation_penalty_factor = 1e-2,
consecutive_scan_rotation_penalty_factor = 1e-2,
consecutive_node_translation_weight = 1e-2,
consecutive_node_rotation_weight = 1e-2,
fixed_frame_pose_translation_weight = 1e1,
fixed_frame_pose_rotation_weight = 1e2,
log_solver_summary = true,

6
cartographer/mapping_3d/proto/local_trajectory_builder_options.proto
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@ -28,9 +28,9 @@ message LocalTrajectoryBuilderOptions {
float min_range = 1;
float max_range = 2;
// Number of scans to accumulate into one unwarped, combined scan to use for
// scan matching.
int32 scans_per_accumulation = 3;
// Number of range data to accumulate into one unwarped, combined range data
// to use for scan matching.
int32 num_accumulated_range_data = 3;
// Voxel filter that gets applied to the range data immediately after
// cropping.

6
cartographer/mapping_3d/proto/motion_filter_options.proto
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@ -17,12 +17,12 @@ syntax = "proto3";
package cartographer.mapping_3d.proto;
message MotionFilterOptions {
// Threshold above which a new scan is inserted based on time.
// Threshold above which range data is inserted based on time.
double max_time_seconds = 1;
// Threshold above which a new scan is inserted based on linear motion.
// Threshold above which range data is inserted based on linear motion.
double max_distance_meters = 2;
// Threshold above which a new scan is inserted based on rotational motion.
// Threshold above which range data is inserted based on rotational motion.
double max_angle_radians = 3;
}

6
cartographer/mapping_3d/proto/submaps_options.proto
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@ -31,9 +31,9 @@ message SubmapsOptions {
// local SLAM only.
double low_resolution = 5;
// Number of scans before adding a new submap. Each submap will get twice the
// number of scans inserted: First for initialization without being matched
// against, then while being matched.
// Number of range data before adding a new submap. Each submap will get twice
// the number of range data inserted: First for initialization without being
// matched against, then while being matched.
int32 num_range_data = 2;
RangeDataInserterOptions range_data_inserter_options = 3;

2
cartographer/sensor/map_by_time.h
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@ -194,7 +194,7 @@ class MapByTime {
EndOfTrajectory(trajectory_id));
}
// Returns an iterator to the the first element in the container belonging to
// Returns an iterator to the first element in the container belonging to
// trajectory 'trajectory_id' whose time is not considered to go before
// 'time', or EndOfTrajectory(trajectory_id) if all keys are considered to go
// before 'time'. 'trajectory_id' must refer to an existing trajectory.

6
configuration_files/pose_graph.lua
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@ -13,7 +13,7 @@
-- limitations under the License.
POSE_GRAPH = {
optimize_every_n_scans = 90,
optimize_every_n_nodes = 90,
constraint_builder = {
sampling_ratio = 0.3,
max_constraint_distance = 15.,
@ -65,8 +65,8 @@ POSE_GRAPH = {
huber_scale = 1e1,
acceleration_weight = 1e3,
rotation_weight = 3e5,
consecutive_scan_translation_penalty_factor = 1e5,
consecutive_scan_rotation_penalty_factor = 1e5,
consecutive_node_translation_weight = 1e5,
consecutive_node_rotation_weight = 1e5,
fixed_frame_pose_translation_weight = 1e1,
fixed_frame_pose_rotation_weight = 1e2,
log_solver_summary = false,

2
configuration_files/trajectory_builder_2d.lua
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@ -19,7 +19,7 @@ TRAJECTORY_BUILDER_2D = {
min_z = -0.8,
max_z = 2.,
missing_data_ray_length = 5.,
scans_per_accumulation = 1,
num_accumulated_range_data = 1,
voxel_filter_size = 0.025,
adaptive_voxel_filter = {

2
configuration_files/trajectory_builder_3d.lua
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@ -17,7 +17,7 @@ MAX_3D_RANGE = 60.
TRAJECTORY_BUILDER_3D = {
min_range = 1.,
max_range = MAX_3D_RANGE,
scans_per_accumulation = 1,
num_accumulated_range_data = 1,
voxel_filter_size = 0.15,
high_resolution_adaptive_voxel_filter = {

42
docs/source/configuration.rst
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@ -86,11 +86,11 @@ double acceleration_weight
double rotation_weight
Scaling parameter for the IMU rotation term.
double consecutive_scan_translation_penalty_factor
Penalty factors for translation changes to the relative pose between consecutive scans.
double consecutive_node_translation_weight
Scaling parameter for translation between consecutive nodes.
double consecutive_scan_rotation_penalty_factor
Penalty factors for rotation changes to the relative pose between consecutive scans.
double consecutive_node_rotation_weight
Scaling parameter for rotation between consecutive nodes.
double fixed_frame_pose_translation_weight
Scaling parameter for the FixedFramePose translation.
@ -124,7 +124,7 @@ cartographer.mapping.proto.PoseGraphOptions pose_graph_options
cartographer.mapping.proto.PoseGraphOptions
===========================================
int32 optimize_every_n_scans
int32 optimize_every_n_nodes
Online loop closure: If positive, will run the loop closure while the map
is built.
@ -147,7 +147,7 @@ int32 max_num_final_iterations
optimization.
double global_sampling_ratio
Rate at which we sample a single trajectory's scans for global
Rate at which we sample a single trajectory's nodes for global
localization.
bool log_residual_histograms
@ -190,9 +190,9 @@ float max_z
float missing_data_ray_length
Points beyond 'max_range' will be inserted with this length as empty space.
int32 scans_per_accumulation
Number of scans to accumulate into one unwarped, combined scan to use for
scan matching.
int32 num_accumulated_range_data
Number of range data to accumulate into one unwarped, combined range data
to use for scan matching.
float voxel_filter_size
Voxel filter that gets applied to the range data immediately after
@ -256,9 +256,9 @@ double resolution
Resolution of the map in meters.
int32 num_range_data
Number of scans before adding a new submap. Each submap will get twice the
number of scans inserted: First for initialization without being matched
against, then while being matched.
Number of range data before adding a new submap. Each submap will get twice
the number of range data inserted: First for initialization without being
matched against, then while being matched.
cartographer.mapping_2d.proto.RangeDataInserterOptions range_data_inserter_options
Not yet documented.
@ -323,9 +323,9 @@ float min_range
float max_range
Not yet documented.
int32 scans_per_accumulation
Number of scans to accumulate into one unwarped, combined scan to use for
scan matching.
int32 num_accumulated_range_data
Number of range data to accumulate into one unwarped, combined range data
to use for scan matching.
float voxel_filter_size
Voxel filter that gets applied to the range data immediately after
@ -369,13 +369,13 @@ cartographer.mapping_3d.proto.MotionFilterOptions
=================================================
double max_time_seconds
Threshold above which a new scan is inserted based on time.
Threshold above which range data is inserted based on time.
double max_distance_meters
Threshold above which a new scan is inserted based on linear motion.
Threshold above which range data is inserted based on linear motion.
double max_angle_radians
Threshold above which a new scan is inserted based on rotational motion.
Threshold above which range data is inserted based on rotational motion.
cartographer.mapping_3d.proto.RangeDataInserterOptions
@ -410,9 +410,9 @@ double low_resolution
local SLAM only.
int32 num_range_data
Number of scans before adding a new submap. Each submap will get twice the
number of scans inserted: First for initialization without being matched
against, then while being matched.
Number of range data before adding a new submap. Each submap will get twice
the number of range data inserted: First for initialization without being
matched against, then while being matched.
cartographer.mapping_3d.proto.RangeDataInserterOptions range_data_inserter_options
Not yet documented.