Removes sensor packet period histogram. (#104)

cartographer/common/histogram.cc

@@ -26,38 +26,6 @@
 namespace cartographer {
 namespace common {
 
-namespace {
-
-string PaddedTo(string input, int new_length) {
-  CHECK_GE(new_length, input.size());
-  input.insert(input.begin(), new_length - input.size(), ' ');
-  return input;
-}
-
-}  // namespace
-
-void BucketHistogram::Hit(const string& bucket) { ++buckets_[bucket]; }
-
-string BucketHistogram::ToString() const {
-  int64 sum = 0;
-  size_t max_bucket_name_length = 0;
-  for (const auto& pair : buckets_) {
-    sum += pair.second;
-    max_bucket_name_length =
-        std::max(pair.first.size(), max_bucket_name_length);
-  }
-
-  string result;
-  for (const auto& pair : buckets_) {
-    const float percent = 100.f * pair.second / std::max<int64>(1, sum);
-    result += PaddedTo(pair.first, max_bucket_name_length) + ": " +
-              PaddedTo(std::to_string(pair.second), 7) + " (" +
-              std::to_string(percent) + " %)\n";
-  }
-  result += "Total: " + std::to_string(sum);
-  return result;
-}
-
 void Histogram::Add(const float value) { values_.push_back(value); }
 
 string Histogram::ToString(const int buckets) const {

cartographer/common/histogram.h

@@ -26,15 +26,6 @@
 namespace cartographer {
 namespace common {
 
-class BucketHistogram {
- public:
-  void Hit(const string& bucket);
-  string ToString() const;
-
- private:
-  std::map<string, int64> buckets_;
-};
-
 class Histogram {
  public:
   void Add(float value);

cartographer/sensor/CMakeLists.txt

@@ -24,7 +24,6 @@ google_library(sensor_collator
     common_time
     sensor_data
     sensor_ordered_multi_queue
-    sensor_sensor_packet_period_histogram_builder
 )
 
 google_library(sensor_compressed_point_cloud
@@ -103,17 +102,6 @@ google_library(sensor_point_cloud
     transform_transform
 )
 
-google_library(sensor_sensor_packet_period_histogram_builder
-  USES_GLOG
-  SRCS
-    sensor_packet_period_histogram_builder.cc
-  HDRS
-    sensor_packet_period_histogram_builder.h
-  DEPENDS
-    common_histogram
-    common_port
-)
-
 google_library(sensor_voxel_filter
   SRCS
     voxel_filter.cc

cartographer/sensor/collator.h

@@ -29,7 +29,6 @@
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/sensor/ordered_multi_queue.h"
-#include "cartographer/sensor/sensor_packet_period_histogram_builder.h"
 #include "glog/logging.h"
 
 namespace cartographer {
@@ -71,8 +70,6 @@ class Collator {
   // order.
   void AddSensorData(const int trajectory_id, const string& sensor_id,
                      std::unique_ptr<Data> data) {
-    sensor_packet_period_histogram_builder_.Add(
-        trajectory_id, common::ToUniversal(data->time), sensor_id);
     queue_.Add(QueueKey{trajectory_id, sensor_id}, std::move(data));
   }
 
@@ -80,7 +77,6 @@ class Collator {
   // AddSensorData may not be called after Flush.
   void Flush() {
     queue_.Flush();
-    sensor_packet_period_histogram_builder_.LogHistogramsAndClear();
   }
 
   // Returns the number of packets associated with 'trajectory_id' that are
@@ -99,7 +95,6 @@ class Collator {
 
   // Map of trajectory ID to all associated QueueKeys.
   std::unordered_map<int, std::vector<QueueKey>> queue_keys_;
-  SensorPacketPeriodHistogramBuilder sensor_packet_period_histogram_builder_;
 };
 
 }  // namespace sensor

cartographer/sensor/sensor_packet_period_histogram_builder.cc

@@ -1,84 +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/sensor/sensor_packet_period_histogram_builder.h"
-
-#include "glog/logging.h"
-
-namespace cartographer {
-namespace sensor {
-namespace {
-
-string ToBucket(int ticks) {
-  if (ticks < 1 * 10000) {
-    return "<   1ms";
-  } else if (ticks < 3 * 10000) {
-    return "<   3ms";
-  } else if (ticks < 5 * 10000) {
-    return "<   5ms";
-  } else if (ticks < 7 * 10000) {
-    return "<   7ms";
-  } else if (ticks < 10 * 10000) {
-    return "<  10ms";
-  } else if (ticks < 30 * 10000) {
-    return "<  30ms";
-  } else if (ticks < 100 * 10000) {
-    return "< 100ms";
-  } else if (ticks < 500 * 10000) {
-    return "< 500ms";
-  }
-  return "> 500ms";
-}
-
-}  // namespace
-
-void SensorPacketPeriodHistogramBuilder::Add(const int trajectory_id,
-                                             const int64 timestamp,
-                                             const string& frame_id) {
-  if (histograms_.count(trajectory_id) == 0) {
-    histograms_.emplace(trajectory_id,
-                        std::unordered_map<string, common::BucketHistogram>());
-  }
-  if (histograms_.at(trajectory_id).count(frame_id) == 0) {
-    histograms_.at(trajectory_id).emplace(frame_id, common::BucketHistogram());
-  }
-  const Key key = std::make_pair(trajectory_id, frame_id);
-  if (last_timestamps_.count(key) != 0) {
-    const int64 previous_timestamp = last_timestamps_.at(key);
-    histograms_.at(trajectory_id)
-        .at(frame_id)
-        .Hit(ToBucket(timestamp - previous_timestamp));
-  }
-  last_timestamps_[key] = timestamp;
-}
-
-void SensorPacketPeriodHistogramBuilder::LogHistogramsAndClear() {
-  for (const auto& trajectory_map_entry : histograms_) {
-    LOG(INFO) << "Printing histograms for trajectory with id "
-              << trajectory_map_entry.first;
-    for (const auto& frame_id_to_histogram_map : trajectory_map_entry.second) {
-      LOG(INFO) << "Sensor packet period histogram for '"
-                << frame_id_to_histogram_map.first << "' from trajectory '"
-                << trajectory_map_entry.first << "':\n"
-                << frame_id_to_histogram_map.second.ToString();
-    }
-  }
-  histograms_.clear();
-  last_timestamps_.clear();
-}
-
-}  // namespace sensor
-}  // namespace cartographer

cartographer/sensor/sensor_packet_period_histogram_builder.h

@@ -1,45 +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_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
-#define CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
-
-#include <map>
-#include <unordered_map>
-
-#include "cartographer/common/histogram.h"
-#include "cartographer/common/port.h"
-
-namespace cartographer {
-namespace sensor {
-
-class SensorPacketPeriodHistogramBuilder {
- public:
-  void Add(int trajectory_id, int64 timestamp, const string& frame_id);
-  void LogHistogramsAndClear();
-
- private:
-  using Key = std::pair<int, string>;
-
-  std::map<Key, int64> last_timestamps_;
-  std::unordered_map<int, std::unordered_map<string, common::BucketHistogram>>
-      histograms_;
-};
-
-}  // namespace sensor
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_