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Remove unused concept of CompressedRangeData. (#604)

master
Holger Rapp 2017-10-19 11:19:56 +02:00 committed by Wolfgang Hess
parent e479382ecc
commit 0c9f2c4f65
4 changed files with 0 additions and 78 deletions
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7
cartographer/sensor/proto/sensor.proto
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@ -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;

31
cartographer/sensor/range_data.cc
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@ -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

15
cartographer/sensor/range_data.h
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@ -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

25
cartographer/sensor/range_data_test.cc
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@ -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