From 0c9f2c4f65e74978b6db9e28b11d9ea9ea51647e Mon Sep 17 00:00:00 2001
From: Holger Rapp <HolgerRapp@gmx.net>
Date: Thu, 19 Oct 2017 11:19:56 +0200
Subject: [PATCH] Remove unused concept of CompressedRangeData. (#604)

---
 cartographer/sensor/proto/sensor.proto |  7 ------
 cartographer/sensor/range_data.cc      | 31 --------------------------
 cartographer/sensor/range_data.h       | 15 -------------
 cartographer/sensor/range_data_test.cc | 25 ---------------------
 4 files changed, 78 deletions(-)

diff --git a/cartographer/sensor/proto/sensor.proto b/cartographer/sensor/proto/sensor.proto
index eb6b0bd..c51ba33 100644
--- a/cartographer/sensor/proto/sensor.proto
+++ b/cartographer/sensor/proto/sensor.proto
@@ -33,13 +33,6 @@ message ImuData {
   optional transform.proto.Vector3d angular_velocity = 3;
 }
 
-// Proto representation of ::cartographer::sensor::CompressedRangeData.
-message CompressedRangeData {
-  optional transform.proto.Vector3f origin = 1;
-  optional CompressedPointCloud returns = 2;
-  optional CompressedPointCloud misses = 3;
-}
-
 // Proto representation of ::cartographer::sensor::OdometryData.
 message OdometryData {
   optional int64 timestamp = 1;
diff --git a/cartographer/sensor/range_data.cc b/cartographer/sensor/range_data.cc
index 9c2a94b..3bb58b1 100644
--- a/cartographer/sensor/range_data.cc
+++ b/cartographer/sensor/range_data.cc
@@ -37,36 +37,5 @@ RangeData CropRangeData(const RangeData& range_data, const float min_z,
                    Crop(range_data.misses, min_z, max_z)};
 }
 
-proto::CompressedRangeData ToProto(
-    const CompressedRangeData& compressed_range_data) {
-  proto::CompressedRangeData proto;
-  *proto.mutable_origin() = transform::ToProto(compressed_range_data.origin);
-  *proto.mutable_returns() = compressed_range_data.returns.ToProto();
-  *proto.mutable_misses() = compressed_range_data.misses.ToProto();
-  return proto;
-}
-
-CompressedRangeData FromProto(const proto::CompressedRangeData& proto) {
-  return CompressedRangeData{
-      transform::ToEigen(proto.origin()),
-      CompressedPointCloud(proto.returns()),
-      CompressedPointCloud(proto.misses()),
-  };
-}
-
-CompressedRangeData Compress(const RangeData& range_data) {
-  return CompressedRangeData{
-      range_data.origin,
-      CompressedPointCloud(range_data.returns),
-      CompressedPointCloud(range_data.misses),
-  };
-}
-
-RangeData Decompress(const CompressedRangeData& compressed_range_data) {
-  return RangeData{compressed_range_data.origin,
-                   compressed_range_data.returns.Decompress(),
-                   compressed_range_data.misses.Decompress()};
-}
-
 }  // namespace sensor
 }  // namespace cartographer
diff --git a/cartographer/sensor/range_data.h b/cartographer/sensor/range_data.h
index 4f069da..26c4b25 100644
--- a/cartographer/sensor/range_data.h
+++ b/cartographer/sensor/range_data.h
@@ -41,21 +41,6 @@ RangeData TransformRangeData(const RangeData& range_data,
 // Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
 RangeData CropRangeData(const RangeData& range_data, float min_z, float max_z);
 
-// Like RangeData but with compressed point clouds. The point order changes
-// when converting from RangeData.
-struct CompressedRangeData {
-  Eigen::Vector3f origin;
-  CompressedPointCloud returns;
-  CompressedPointCloud misses;
-};
-
-proto::CompressedRangeData ToProto(
-    const CompressedRangeData& compressed_range_data);
-CompressedRangeData FromProto(const proto::CompressedRangeData& proto);
-CompressedRangeData Compress(const RangeData& range_data);
-
-RangeData Decompress(const CompressedRangeData& compressed_range_data);
-
 }  // namespace sensor
 }  // namespace cartographer
 
diff --git a/cartographer/sensor/range_data_test.cc b/cartographer/sensor/range_data_test.cc
index 72d57bf..68cc831 100644
--- a/cartographer/sensor/range_data_test.cc
+++ b/cartographer/sensor/range_data_test.cc
@@ -48,31 +48,6 @@ class RangeDataTest : public ::testing::Test {
   std::vector<Eigen::Vector3f> misses_;
 };
 
-TEST_F(RangeDataTest, Compression) {
-  const RangeData expected_data = {origin_, returns_, misses_};
-  const RangeData actual_data = Decompress(Compress(expected_data));
-  EXPECT_THAT(expected_data.origin, Near(actual_data.origin));
-  EXPECT_EQ(3, actual_data.returns.size());
-  EXPECT_EQ(1, actual_data.misses.size());
-
-  // Returns may be reordered, so we compare in an unordered manner.
-  for (const auto& expected : expected_data.returns) {
-    EXPECT_THAT(actual_data.returns, Contains(Near(expected)));
-  }
-  for (const auto& expected : expected_data.misses) {
-    EXPECT_THAT(actual_data.misses, Contains(Near(expected)));
-  }
-}
-
-TEST_F(RangeDataTest, CompressedRangeDataToAndFromProto) {
-  const auto expected = CompressedRangeData{
-      origin_, CompressedPointCloud(returns_), CompressedPointCloud(misses_)};
-  const auto actual = FromProto(ToProto(expected));
-  EXPECT_THAT(expected.origin, Near(actual.origin));
-  EXPECT_EQ(expected.returns, actual.returns);
-  EXPECT_EQ(expected.misses, actual.misses);
-}
-
 }  // namespace
 }  // namespace sensor
 }  // namespace cartographer