Remove unused code and option for odometry states. (#451)

cartographer/mapping/map_builder.cc

@@ -199,10 +199,7 @@ void MapBuilder::LoadMap(io::ProtoStreamReader* const reader) {
   unused_options.mutable_trajectory_builder_2d_options()
       ->mutable_submaps_options()
       ->set_resolution(0.05);
-  unused_options.mutable_trajectory_builder_2d_options()
+  unused_options.mutable_trajectory_builder_3d_options();
-      ->set_num_odometry_states(1);
-  unused_options.mutable_trajectory_builder_3d_options()
-      ->set_num_odometry_states(1);
 
   const std::unordered_set<string> unused_sensor_ids;
   const int map_trajectory_id =

cartographer/mapping/odometry_state_tracker.cc

@@ -1,54 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "cartographer/mapping/odometry_state_tracker.h"
-
-#include "cartographer/transform/rigid_transform.h"
-
-namespace cartographer {
-namespace mapping {
-
-OdometryState::OdometryState(const common::Time time,
-                             const transform::Rigid3d& odometer_pose,
-                             const transform::Rigid3d& state_pose)
-    : time(time), odometer_pose(odometer_pose), state_pose(state_pose) {}
-
-OdometryStateTracker::OdometryStateTracker(const int window_size)
-    : window_size_(window_size) {
-  CHECK_GT(window_size, 0);
-}
-
-const OdometryStateTracker::OdometryStates&
-OdometryStateTracker::odometry_states() const {
-  return odometry_states_;
-}
-
-void OdometryStateTracker::AddOdometryState(
-    const OdometryState& odometry_state) {
-  odometry_states_.push_back(odometry_state);
-  while (odometry_states_.size() > window_size_) {
-    odometry_states_.pop_front();
-  }
-}
-
-bool OdometryStateTracker::empty() const { return odometry_states_.empty(); }
-
-const OdometryState& OdometryStateTracker::newest() const {
-  return odometry_states_.back();
-}
-
-}  // namespace mapping
-}  // namespace cartographer

cartographer/mapping/odometry_state_tracker.h

@@ -1,66 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
-#define CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_
-
-#include <deque>
-
-#include "cartographer/common/time.h"
-#include "cartographer/transform/rigid_transform.h"
-
-namespace cartographer {
-namespace mapping {
-
-struct OdometryState {
-  OdometryState(common::Time time, const transform::Rigid3d& odometer_pose,
-                const transform::Rigid3d& state_pose);
-  OdometryState() {}
-
-  common::Time time = common::Time::min();
-  transform::Rigid3d odometer_pose = transform::Rigid3d::Identity();
-  transform::Rigid3d state_pose = transform::Rigid3d::Identity();
-};
-
-// Keeps track of the odometry states by keeping sliding window over some
-// number of them.
-class OdometryStateTracker {
- public:
-  using OdometryStates = std::deque<OdometryState>;
-
-  explicit OdometryStateTracker(int window_size);
-
-  const OdometryStates& odometry_states() const;
-
-  // Adds a new 'odometry_state' and makes sure the maximum number of previous
-  // odometry states is not exceeded.
-  void AddOdometryState(const OdometryState& odometry_state);
-
-  // Returns true if no elements are present in the odometry queue.
-  bool empty() const;
-
-  // Retrieves the most recent OdometryState. Must not be called when empty.
-  const OdometryState& newest() const;
-
- private:
-  OdometryStates odometry_states_;
-  size_t window_size_;
-};
-
-}  // namespace mapping
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_

cartographer/mapping_2d/local_trajectory_builder_options.cc

@@ -56,9 +56,6 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
           parameter_dictionary->GetDictionary("motion_filter").get());
   options.set_imu_gravity_time_constant(
       parameter_dictionary->GetDouble("imu_gravity_time_constant"));
-  options.set_num_odometry_states(
-      parameter_dictionary->GetNonNegativeInt("num_odometry_states"));
-  CHECK_GT(options.num_odometry_states(), 0);
   *options.mutable_submaps_options() = CreateSubmapsOptions(
       parameter_dictionary->GetDictionary("submaps").get());
   options.set_use_imu_data(parameter_dictionary->GetBool("use_imu_data"));

cartographer/mapping_2d/proto/local_trajectory_builder_options.proto

@@ -61,9 +61,6 @@ message LocalTrajectoryBuilderOptions {
   // constant is increased) is balanced.
   optional double imu_gravity_time_constant = 17;
 
-  // Maximum number of previous odometry states to keep.
-  optional int32 num_odometry_states = 18;
-
   optional mapping_2d.proto.SubmapsOptions submaps_options = 11;
 
   // True if IMU data should be expected and used.

cartographer/mapping_3d/local_trajectory_builder_options.cc

@@ -59,9 +59,6 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
       parameter_dictionary->GetDictionary("motion_filter").get());
   options.set_imu_gravity_time_constant(
       parameter_dictionary->GetDouble("imu_gravity_time_constant"));
-  options.set_num_odometry_states(
-      parameter_dictionary->GetNonNegativeInt("num_odometry_states"));
-  CHECK_GT(options.num_odometry_states(), 0);
   *options.mutable_submaps_options() = mapping_3d::CreateSubmapsOptions(
       parameter_dictionary->GetDictionary("submaps").get());
   return options;

cartographer/mapping_3d/local_trajectory_builder_test.cc

@@ -92,7 +92,6 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
           },
 
           imu_gravity_time_constant = 1.,
-          num_odometry_states = 1,
 
           submaps = {
             high_resolution = 0.2,

cartographer/mapping_3d/proto/local_trajectory_builder_options.proto

@@ -22,6 +22,7 @@ import "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_m
 import "cartographer/mapping_3d/proto/submaps_options.proto";
 import "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto";
 
+// NEXT ID: 17
 message LocalTrajectoryBuilderOptions {
   // Rangefinder points outside these ranges will be dropped.
   optional float min_range = 1;
@@ -58,8 +59,5 @@ message LocalTrajectoryBuilderOptions {
   // constant is increased) is balanced.
   optional double imu_gravity_time_constant = 15;
 
-  // Maximum number of previous odometry states to keep.
-  optional int32 num_odometry_states = 16;
-
   optional SubmapsOptions submaps_options = 8;
 }

configuration_files/trajectory_builder_2d.lua

@@ -54,7 +54,6 @@ TRAJECTORY_BUILDER_2D = {
   },
 
   imu_gravity_time_constant = 10.,
-  num_odometry_states = 1000,
 
   submaps = {
     resolution = 0.05,

configuration_files/trajectory_builder_3d.lua

@@ -60,7 +60,6 @@ TRAJECTORY_BUILDER_3D = {
   },
 
   imu_gravity_time_constant = 10.,
-  num_odometry_states = 1,
 
   submaps = {
     high_resolution = 0.10,

docs/source/configuration.rst

@@ -88,6 +88,9 @@ cartographer.mapping_2d.proto.LocalTrajectoryBuilderOptions trajectory_builder_2
 cartographer.mapping_3d.proto.LocalTrajectoryBuilderOptions trajectory_builder_3d_options
   Not yet documented.
 
+bool pure_localization
+  Not yet documented.
+
 
 cartographer.mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
 =====================================================================
@@ -182,6 +185,10 @@ 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.
+
 float voxel_filter_size
   Voxel filter that gets applied to the range data immediately after
   cropping.
@@ -210,9 +217,6 @@ double imu_gravity_time_constant
   2. from integration of angular velocities (which gets worse when the
   constant is increased) is balanced.
 
-int32 num_odometry_states
-  Maximum number of previous odometry states to keep.
-
 cartographer.mapping_2d.proto.SubmapsOptions submaps_options
   Not yet documented.
 
@@ -345,9 +349,6 @@ double imu_gravity_time_constant
   2. from integration of angular velocities (which gets worse when the
   constant is increased) is balanced.
 
-int32 num_odometry_states
-  Maximum number of previous odometry states to keep.
-
 cartographer.mapping_3d.proto.SubmapsOptions submaps_options
   Not yet documented.