From 16d62f45f0e77db7c3b49276808725f3a06bcbf4 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Thu, 16 Nov 2017 11:48:25 +0100 Subject: [PATCH] Rename sparse_pose_graph options. (#682) The default pose graph configuration is now included as "pose_graph.lua" and available as POSE_GRAPH. [RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md) --- cartographer/mapping/map_builder.cc | 8 ++++---- cartographer/mapping/pose_graph.cc | 4 ++-- cartographer/mapping/pose_graph.h | 4 ++-- cartographer/mapping/proto/map_builder_options.proto | 4 ++-- ..._pose_graph_options.proto => pose_graph_options.proto} | 2 +- cartographer/mapping_2d/pose_graph.cc | 2 +- cartographer/mapping_2d/pose_graph.h | 4 ++-- cartographer/mapping_2d/pose_graph_test.cc | 2 +- cartographer/mapping_3d/pose_graph.cc | 2 +- cartographer/mapping_3d/pose_graph.h | 4 ++-- configuration_files/map_builder.lua | 4 ++-- .../{sparse_pose_graph.lua => pose_graph.lua} | 2 +- docs/source/configuration.rst | 6 +++--- 13 files changed, 24 insertions(+), 24 deletions(-) rename cartographer/mapping/proto/{sparse_pose_graph_options.proto => pose_graph_options.proto} (98%) rename configuration_files/{sparse_pose_graph.lua => pose_graph.lua} (99%) diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc index 074b6e1..93fc963 100644 --- a/cartographer/mapping/map_builder.cc +++ b/cartographer/mapping/map_builder.cc @@ -46,8 +46,8 @@ proto::MapBuilderOptions CreateMapBuilderOptions( parameter_dictionary->GetBool("use_trajectory_builder_3d")); options.set_num_background_threads( parameter_dictionary->GetNonNegativeInt("num_background_threads")); - *options.mutable_sparse_pose_graph_options() = CreateSparsePoseGraphOptions( - parameter_dictionary->GetDictionary("sparse_pose_graph").get()); + *options.mutable_pose_graph_options() = CreatePoseGraphOptions( + parameter_dictionary->GetDictionary("pose_graph").get()); CHECK_NE(options.use_trajectory_builder_2d(), options.use_trajectory_builder_3d()); return options; @@ -61,12 +61,12 @@ MapBuilder::MapBuilder( local_slam_result_callback_(local_slam_result_callback) { if (options.use_trajectory_builder_2d()) { pose_graph_2d_ = common::make_unique( - options_.sparse_pose_graph_options(), &thread_pool_); + options_.pose_graph_options(), &thread_pool_); pose_graph_ = pose_graph_2d_.get(); } if (options.use_trajectory_builder_3d()) { pose_graph_3d_ = common::make_unique( - options_.sparse_pose_graph_options(), &thread_pool_); + options_.pose_graph_options(), &thread_pool_); pose_graph_ = pose_graph_3d_.get(); } } diff --git a/cartographer/mapping/pose_graph.cc b/cartographer/mapping/pose_graph.cc index 9c61271..30dfb8b 100644 --- a/cartographer/mapping/pose_graph.cc +++ b/cartographer/mapping/pose_graph.cc @@ -68,9 +68,9 @@ std::vector FromProto( return constraints; } -proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions( +proto::PoseGraphOptions CreatePoseGraphOptions( common::LuaParameterDictionary* const parameter_dictionary) { - proto::SparsePoseGraphOptions options; + proto::PoseGraphOptions options; options.set_optimize_every_n_scans( parameter_dictionary->GetInt("optimize_every_n_scans")); *options.mutable_constraint_builder_options() = diff --git a/cartographer/mapping/pose_graph.h b/cartographer/mapping/pose_graph.h index 12ca4ed..0fff128 100644 --- a/cartographer/mapping/pose_graph.h +++ b/cartographer/mapping/pose_graph.h @@ -27,8 +27,8 @@ #include "cartographer/mapping/id.h" #include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/proto/pose_graph.pb.h" +#include "cartographer/mapping/proto/pose_graph_options.pb.h" #include "cartographer/mapping/proto/serialization.pb.h" -#include "cartographer/mapping/proto/sparse_pose_graph_options.pb.h" #include "cartographer/mapping/submaps.h" #include "cartographer/mapping/trajectory_node.h" #include "cartographer/sensor/imu_data.h" @@ -39,7 +39,7 @@ namespace cartographer { namespace mapping { -proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions( +proto::PoseGraphOptions CreatePoseGraphOptions( common::LuaParameterDictionary* const parameter_dictionary); class PoseGraph { diff --git a/cartographer/mapping/proto/map_builder_options.proto b/cartographer/mapping/proto/map_builder_options.proto index e0d80fb..ebf37fb 100644 --- a/cartographer/mapping/proto/map_builder_options.proto +++ b/cartographer/mapping/proto/map_builder_options.proto @@ -14,7 +14,7 @@ syntax = "proto3"; -import "cartographer/mapping/proto/sparse_pose_graph_options.proto"; +import "cartographer/mapping/proto/pose_graph_options.proto"; package cartographer.mapping.proto; @@ -24,5 +24,5 @@ message MapBuilderOptions { // Number of threads to use for background computations. int32 num_background_threads = 3; - SparsePoseGraphOptions sparse_pose_graph_options = 4; + PoseGraphOptions pose_graph_options = 4; } diff --git a/cartographer/mapping/proto/sparse_pose_graph_options.proto b/cartographer/mapping/proto/pose_graph_options.proto similarity index 98% rename from cartographer/mapping/proto/sparse_pose_graph_options.proto rename to cartographer/mapping/proto/pose_graph_options.proto index 41d48e2..b1d8c10 100644 --- a/cartographer/mapping/proto/sparse_pose_graph_options.proto +++ b/cartographer/mapping/proto/pose_graph_options.proto @@ -19,7 +19,7 @@ package cartographer.mapping.proto; import "cartographer/mapping/pose_graph/proto/constraint_builder_options.proto"; import "cartographer/mapping/pose_graph/proto/optimization_problem_options.proto"; -message SparsePoseGraphOptions { +message PoseGraphOptions { // Online loop closure: If positive, will run the loop closure while the map // is built. int32 optimize_every_n_scans = 1; diff --git a/cartographer/mapping_2d/pose_graph.cc b/cartographer/mapping_2d/pose_graph.cc index 1c3a00a..b1ceb29 100644 --- a/cartographer/mapping_2d/pose_graph.cc +++ b/cartographer/mapping_2d/pose_graph.cc @@ -39,7 +39,7 @@ namespace cartographer { namespace mapping_2d { -PoseGraph::PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, +PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options, common::ThreadPool* thread_pool) : options_(options), optimization_problem_(options_.optimization_problem_options()), diff --git a/cartographer/mapping_2d/pose_graph.h b/cartographer/mapping_2d/pose_graph.h index 681547b..af75f5d 100644 --- a/cartographer/mapping_2d/pose_graph.h +++ b/cartographer/mapping_2d/pose_graph.h @@ -58,7 +58,7 @@ namespace mapping_2d { // All constraints are between a submap i and a node j. class PoseGraph : public mapping::PoseGraph { public: - PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, + PoseGraph(const mapping::proto::PoseGraphOptions& options, common::ThreadPool* thread_pool); ~PoseGraph() override; @@ -190,7 +190,7 @@ class PoseGraph : public mapping::PoseGraph { void UpdateTrajectoryConnectivity(const Constraint& constraint) REQUIRES(mutex_); - const mapping::proto::SparsePoseGraphOptions options_; + const mapping::proto::PoseGraphOptions options_; common::Mutex mutex_; // If it exists, further work items must be added to this queue, and will be diff --git a/cartographer/mapping_2d/pose_graph_test.cc b/cartographer/mapping_2d/pose_graph_test.cc index 58fd02f..3c675f1 100644 --- a/cartographer/mapping_2d/pose_graph_test.cc +++ b/cartographer/mapping_2d/pose_graph_test.cc @@ -133,7 +133,7 @@ class PoseGraphTest : public ::testing::Test { global_constraint_search_after_n_seconds = 10.0, })text"); pose_graph_ = common::make_unique( - mapping::CreateSparsePoseGraphOptions(parameter_dictionary.get()), + mapping::CreatePoseGraphOptions(parameter_dictionary.get()), &thread_pool_); } diff --git a/cartographer/mapping_3d/pose_graph.cc b/cartographer/mapping_3d/pose_graph.cc index d5ab95c..bb8b380 100644 --- a/cartographer/mapping_3d/pose_graph.cc +++ b/cartographer/mapping_3d/pose_graph.cc @@ -38,7 +38,7 @@ namespace cartographer { namespace mapping_3d { -PoseGraph::PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, +PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options, common::ThreadPool* thread_pool) : options_(options), optimization_problem_(options_.optimization_problem_options(), diff --git a/cartographer/mapping_3d/pose_graph.h b/cartographer/mapping_3d/pose_graph.h index b0ee96b..66b5a73 100644 --- a/cartographer/mapping_3d/pose_graph.h +++ b/cartographer/mapping_3d/pose_graph.h @@ -58,7 +58,7 @@ namespace mapping_3d { // All constraints are between a submap i and a node j. class PoseGraph : public mapping::PoseGraph { public: - PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, + PoseGraph(const mapping::proto::PoseGraphOptions& options, common::ThreadPool* thread_pool); ~PoseGraph() override; @@ -194,7 +194,7 @@ class PoseGraph : public mapping::PoseGraph { void UpdateTrajectoryConnectivity(const Constraint& constraint) REQUIRES(mutex_); - const mapping::proto::SparsePoseGraphOptions options_; + const mapping::proto::PoseGraphOptions options_; common::Mutex mutex_; // If it exists, further work items must be added to this queue, and will be diff --git a/configuration_files/map_builder.lua b/configuration_files/map_builder.lua index 5ec2c51..8a4a6c0 100644 --- a/configuration_files/map_builder.lua +++ b/configuration_files/map_builder.lua @@ -12,11 +12,11 @@ -- See the License for the specific language governing permissions and -- limitations under the License. -include "sparse_pose_graph.lua" +include "pose_graph.lua" MAP_BUILDER = { use_trajectory_builder_2d = false, use_trajectory_builder_3d = false, num_background_threads = 4, - sparse_pose_graph = SPARSE_POSE_GRAPH, + pose_graph = POSE_GRAPH, } diff --git a/configuration_files/sparse_pose_graph.lua b/configuration_files/pose_graph.lua similarity index 99% rename from configuration_files/sparse_pose_graph.lua rename to configuration_files/pose_graph.lua index af3109d..527a674 100644 --- a/configuration_files/sparse_pose_graph.lua +++ b/configuration_files/pose_graph.lua @@ -12,7 +12,7 @@ -- See the License for the specific language governing permissions and -- limitations under the License. -SPARSE_POSE_GRAPH = { +POSE_GRAPH = { optimize_every_n_scans = 90, constraint_builder = { sampling_ratio = 0.3, diff --git a/docs/source/configuration.rst b/docs/source/configuration.rst index 82439e8..2d2ea8e 100644 --- a/docs/source/configuration.rst +++ b/docs/source/configuration.rst @@ -117,12 +117,12 @@ bool use_trajectory_builder_3d int32 num_background_threads Number of threads to use for background computations. -cartographer.mapping.proto.SparsePoseGraphOptions sparse_pose_graph_options +cartographer.mapping.proto.PoseGraphOptions pose_graph_options Not yet documented. -cartographer.mapping.proto.SparsePoseGraphOptions -================================================= +cartographer.mapping.proto.PoseGraphOptions +=========================================== int32 optimize_every_n_scans Online loop closure: If positive, will run the loop closure while the map