Removes sensor packet period histogram. (#104)
Damon Kohler
GitHub
parent
6e6d2decaa
commit
15f9244577
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@ -26,38 +26,6 @@
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namespace cartographer {
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namespace common {
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namespace {
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string PaddedTo(string input, int new_length) {
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CHECK_GE(new_length, input.size());
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input.insert(input.begin(), new_length - input.size(), ' ');
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return input;
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}
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} // namespace
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void BucketHistogram::Hit(const string& bucket) { ++buckets_[bucket]; }
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string BucketHistogram::ToString() const {
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int64 sum = 0;
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size_t max_bucket_name_length = 0;
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for (const auto& pair : buckets_) {
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sum += pair.second;
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max_bucket_name_length =
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std::max(pair.first.size(), max_bucket_name_length);
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}
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string result;
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for (const auto& pair : buckets_) {
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const float percent = 100.f * pair.second / std::max<int64>(1, sum);
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result += PaddedTo(pair.first, max_bucket_name_length) + ": " +
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PaddedTo(std::to_string(pair.second), 7) + " (" +
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std::to_string(percent) + " %)\n";
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}
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result += "Total: " + std::to_string(sum);
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return result;
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}
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void Histogram::Add(const float value) { values_.push_back(value); }
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string Histogram::ToString(const int buckets) const {
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@ -26,15 +26,6 @@
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namespace cartographer {
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namespace common {
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class BucketHistogram {
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public:
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void Hit(const string& bucket);
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string ToString() const;
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private:
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std::map<string, int64> buckets_;
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};
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class Histogram {
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public:
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void Add(float value);
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@ -24,7 +24,6 @@ google_library(sensor_collator
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common_time
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sensor_data
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sensor_ordered_multi_queue
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sensor_sensor_packet_period_histogram_builder
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)
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google_library(sensor_compressed_point_cloud
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@ -103,17 +102,6 @@ google_library(sensor_point_cloud
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transform_transform
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)
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google_library(sensor_sensor_packet_period_histogram_builder
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USES_GLOG
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SRCS
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sensor_packet_period_histogram_builder.cc
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HDRS
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sensor_packet_period_histogram_builder.h
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DEPENDS
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common_histogram
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common_port
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)
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google_library(sensor_voxel_filter
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SRCS
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voxel_filter.cc
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@ -29,7 +29,6 @@
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/data.h"
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#include "cartographer/sensor/ordered_multi_queue.h"
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#include "cartographer/sensor/sensor_packet_period_histogram_builder.h"
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#include "glog/logging.h"
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namespace cartographer {
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@ -71,8 +70,6 @@ class Collator {
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// order.
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void AddSensorData(const int trajectory_id, const string& sensor_id,
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std::unique_ptr<Data> data) {
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sensor_packet_period_histogram_builder_.Add(
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trajectory_id, common::ToUniversal(data->time), sensor_id);
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queue_.Add(QueueKey{trajectory_id, sensor_id}, std::move(data));
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}
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@ -80,7 +77,6 @@ class Collator {
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// AddSensorData may not be called after Flush.
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void Flush() {
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queue_.Flush();
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sensor_packet_period_histogram_builder_.LogHistogramsAndClear();
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}
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// Returns the number of packets associated with 'trajectory_id' that are
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@ -99,7 +95,6 @@ class Collator {
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// Map of trajectory ID to all associated QueueKeys.
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std::unordered_map<int, std::vector<QueueKey>> queue_keys_;
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SensorPacketPeriodHistogramBuilder sensor_packet_period_histogram_builder_;
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};
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} // namespace sensor
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@ -1,84 +0,0 @@
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/sensor/sensor_packet_period_histogram_builder.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace sensor {
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namespace {
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string ToBucket(int ticks) {
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if (ticks < 1 * 10000) {
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return "< 1ms";
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} else if (ticks < 3 * 10000) {
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return "< 3ms";
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} else if (ticks < 5 * 10000) {
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return "< 5ms";
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} else if (ticks < 7 * 10000) {
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return "< 7ms";
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} else if (ticks < 10 * 10000) {
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return "< 10ms";
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} else if (ticks < 30 * 10000) {
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return "< 30ms";
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} else if (ticks < 100 * 10000) {
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return "< 100ms";
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} else if (ticks < 500 * 10000) {
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return "< 500ms";
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}
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return "> 500ms";
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}
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} // namespace
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void SensorPacketPeriodHistogramBuilder::Add(const int trajectory_id,
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const int64 timestamp,
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const string& frame_id) {
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if (histograms_.count(trajectory_id) == 0) {
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histograms_.emplace(trajectory_id,
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std::unordered_map<string, common::BucketHistogram>());
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}
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if (histograms_.at(trajectory_id).count(frame_id) == 0) {
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histograms_.at(trajectory_id).emplace(frame_id, common::BucketHistogram());
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}
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const Key key = std::make_pair(trajectory_id, frame_id);
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if (last_timestamps_.count(key) != 0) {
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const int64 previous_timestamp = last_timestamps_.at(key);
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histograms_.at(trajectory_id)
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.at(frame_id)
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.Hit(ToBucket(timestamp - previous_timestamp));
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}
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last_timestamps_[key] = timestamp;
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}
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void SensorPacketPeriodHistogramBuilder::LogHistogramsAndClear() {
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for (const auto& trajectory_map_entry : histograms_) {
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LOG(INFO) << "Printing histograms for trajectory with id "
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<< trajectory_map_entry.first;
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for (const auto& frame_id_to_histogram_map : trajectory_map_entry.second) {
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LOG(INFO) << "Sensor packet period histogram for '"
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<< frame_id_to_histogram_map.first << "' from trajectory '"
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<< trajectory_map_entry.first << "':\n"
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<< frame_id_to_histogram_map.second.ToString();
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}
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}
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histograms_.clear();
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last_timestamps_.clear();
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}
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} // namespace sensor
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} // namespace cartographer
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@ -1,45 +0,0 @@
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
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#define CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
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#include <map>
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#include <unordered_map>
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#include "cartographer/common/histogram.h"
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#include "cartographer/common/port.h"
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namespace cartographer {
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namespace sensor {
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class SensorPacketPeriodHistogramBuilder {
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public:
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void Add(int trajectory_id, int64 timestamp, const string& frame_id);
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void LogHistogramsAndClear();
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private:
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using Key = std::pair<int, string>;
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std::map<Key, int64> last_timestamps_;
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std::unordered_map<int, std::unordered_map<string, common::BucketHistogram>>
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histograms_;
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};
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
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