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

master
Wolfgang Hess 2017-08-11 17:38:48 +02:00 committed by GitHub
parent e79a918989
commit 11dbdf91b9
11 changed files with 9 additions and 145 deletions
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5
cartographer/mapping/map_builder.cc
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@ -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()
->set_num_odometry_states(1);
unused_options.mutable_trajectory_builder_3d_options()
->set_num_odometry_states(1);
unused_options.mutable_trajectory_builder_3d_options();
const std::unordered_set<string> unused_sensor_ids;
const int map_trajectory_id =

54
cartographer/mapping/odometry_state_tracker.cc
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@ -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

66
cartographer/mapping/odometry_state_tracker.h
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@ -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_

3
cartographer/mapping_2d/local_trajectory_builder_options.cc
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@ -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"));

3
cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
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@ -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.

3
cartographer/mapping_3d/local_trajectory_builder_options.cc
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@ -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;

1
cartographer/mapping_3d/local_trajectory_builder_test.cc
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@ -92,7 +92,6 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
},
imu_gravity_time_constant = 1.,
num_odometry_states = 1,
submaps = {
high_resolution = 0.2,

4
cartographer/mapping_3d/proto/local_trajectory_builder_options.proto
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@ -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;
}

1
configuration_files/trajectory_builder_2d.lua
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@ -54,7 +54,6 @@ TRAJECTORY_BUILDER_2D = {
},
imu_gravity_time_constant = 10.,
num_odometry_states = 1000,
submaps = {
resolution = 0.05,

1
configuration_files/trajectory_builder_3d.lua
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@ -60,7 +60,6 @@ TRAJECTORY_BUILDER_3D = {
},
imu_gravity_time_constant = 10.,
num_odometry_states = 1,
submaps = {
high_resolution = 0.10,

13
docs/source/configuration.rst
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@ -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.