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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)
master
Wolfgang Hess 2017-11-16 11:48:25 +01:00 committed by Wally B. Feed
parent a08a370ef3
commit 16d62f45f0
13 changed files with 24 additions and 24 deletions
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8
cartographer/mapping/map_builder.cc
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@ -46,8 +46,8 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
parameter_dictionary->GetBool("use_trajectory_builder_3d")); parameter_dictionary->GetBool("use_trajectory_builder_3d"));
options.set_num_background_threads( options.set_num_background_threads(
parameter_dictionary->GetNonNegativeInt("num_background_threads")); parameter_dictionary->GetNonNegativeInt("num_background_threads"));
*options.mutable_sparse_pose_graph_options() = CreateSparsePoseGraphOptions( *options.mutable_pose_graph_options() = CreatePoseGraphOptions(
parameter_dictionary->GetDictionary("sparse_pose_graph").get()); parameter_dictionary->GetDictionary("pose_graph").get());
CHECK_NE(options.use_trajectory_builder_2d(), CHECK_NE(options.use_trajectory_builder_2d(),
options.use_trajectory_builder_3d()); options.use_trajectory_builder_3d());
return options; return options;
@ -61,12 +61,12 @@ MapBuilder::MapBuilder(
local_slam_result_callback_(local_slam_result_callback) { local_slam_result_callback_(local_slam_result_callback) {
if (options.use_trajectory_builder_2d()) { if (options.use_trajectory_builder_2d()) {
pose_graph_2d_ = common::make_unique<mapping_2d::PoseGraph>( pose_graph_2d_ = common::make_unique<mapping_2d::PoseGraph>(
options_.sparse_pose_graph_options(), &thread_pool_); options_.pose_graph_options(), &thread_pool_);
pose_graph_ = pose_graph_2d_.get(); pose_graph_ = pose_graph_2d_.get();
} }
if (options.use_trajectory_builder_3d()) { if (options.use_trajectory_builder_3d()) {
pose_graph_3d_ = common::make_unique<mapping_3d::PoseGraph>( pose_graph_3d_ = common::make_unique<mapping_3d::PoseGraph>(
options_.sparse_pose_graph_options(), &thread_pool_); options_.pose_graph_options(), &thread_pool_);
pose_graph_ = pose_graph_3d_.get(); pose_graph_ = pose_graph_3d_.get();
} }
} }

4
cartographer/mapping/pose_graph.cc
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@ -68,9 +68,9 @@ std::vector<PoseGraph::Constraint> FromProto(
return constraints; return constraints;
} }
proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions( proto::PoseGraphOptions CreatePoseGraphOptions(
common::LuaParameterDictionary* const parameter_dictionary) { common::LuaParameterDictionary* const parameter_dictionary) {
proto::SparsePoseGraphOptions options; proto::PoseGraphOptions options;
options.set_optimize_every_n_scans( options.set_optimize_every_n_scans(
parameter_dictionary->GetInt("optimize_every_n_scans")); parameter_dictionary->GetInt("optimize_every_n_scans"));
*options.mutable_constraint_builder_options() = *options.mutable_constraint_builder_options() =

4
cartographer/mapping/pose_graph.h
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@ -27,8 +27,8 @@
#include "cartographer/mapping/id.h" #include "cartographer/mapping/id.h"
#include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/proto/pose_graph.pb.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/serialization.pb.h"
#include "cartographer/mapping/proto/sparse_pose_graph_options.pb.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
#include "cartographer/sensor/imu_data.h" #include "cartographer/sensor/imu_data.h"
@ -39,7 +39,7 @@
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {
proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions( proto::PoseGraphOptions CreatePoseGraphOptions(
common::LuaParameterDictionary* const parameter_dictionary); common::LuaParameterDictionary* const parameter_dictionary);
class PoseGraph { class PoseGraph {

4
cartographer/mapping/proto/map_builder_options.proto
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@ -14,7 +14,7 @@
syntax = "proto3"; syntax = "proto3";
import "cartographer/mapping/proto/sparse_pose_graph_options.proto"; import "cartographer/mapping/proto/pose_graph_options.proto";
package cartographer.mapping.proto; package cartographer.mapping.proto;
@ -24,5 +24,5 @@ message MapBuilderOptions {
// Number of threads to use for background computations. // Number of threads to use for background computations.
int32 num_background_threads = 3; int32 num_background_threads = 3;
SparsePoseGraphOptions sparse_pose_graph_options = 4; PoseGraphOptions pose_graph_options = 4;
} }

2
cartographer/mapping/proto/sparse_pose_graph_options.proto → cartographer/mapping/proto/pose_graph_options.proto
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@ -19,7 +19,7 @@ package cartographer.mapping.proto;
import "cartographer/mapping/pose_graph/proto/constraint_builder_options.proto"; import "cartographer/mapping/pose_graph/proto/constraint_builder_options.proto";
import "cartographer/mapping/pose_graph/proto/optimization_problem_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 // Online loop closure: If positive, will run the loop closure while the map
// is built. // is built.
int32 optimize_every_n_scans = 1; int32 optimize_every_n_scans = 1;

2
cartographer/mapping_2d/pose_graph.cc
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@ -39,7 +39,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_2d { namespace mapping_2d {
PoseGraph::PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool) common::ThreadPool* thread_pool)
: options_(options), : options_(options),
optimization_problem_(options_.optimization_problem_options()), optimization_problem_(options_.optimization_problem_options()),

4
cartographer/mapping_2d/pose_graph.h
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@ -58,7 +58,7 @@ namespace mapping_2d {
// All constraints are between a submap i and a node j. // All constraints are between a submap i and a node j.
class PoseGraph : public mapping::PoseGraph { class PoseGraph : public mapping::PoseGraph {
public: public:
PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, PoseGraph(const mapping::proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool); common::ThreadPool* thread_pool);
~PoseGraph() override; ~PoseGraph() override;
@ -190,7 +190,7 @@ class PoseGraph : public mapping::PoseGraph {
void UpdateTrajectoryConnectivity(const Constraint& constraint) void UpdateTrajectoryConnectivity(const Constraint& constraint)
REQUIRES(mutex_); REQUIRES(mutex_);
const mapping::proto::SparsePoseGraphOptions options_; const mapping::proto::PoseGraphOptions options_;
common::Mutex mutex_; common::Mutex mutex_;
// If it exists, further work items must be added to this queue, and will be // If it exists, further work items must be added to this queue, and will be

2
cartographer/mapping_2d/pose_graph_test.cc
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@ -133,7 +133,7 @@ class PoseGraphTest : public ::testing::Test {
global_constraint_search_after_n_seconds = 10.0, global_constraint_search_after_n_seconds = 10.0,
})text"); })text");
pose_graph_ = common::make_unique<PoseGraph>( pose_graph_ = common::make_unique<PoseGraph>(
mapping::CreateSparsePoseGraphOptions(parameter_dictionary.get()), mapping::CreatePoseGraphOptions(parameter_dictionary.get()),
&thread_pool_); &thread_pool_);
} }

2
cartographer/mapping_3d/pose_graph.cc
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@ -38,7 +38,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
PoseGraph::PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, PoseGraph::PoseGraph(const mapping::proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool) common::ThreadPool* thread_pool)
: options_(options), : options_(options),
optimization_problem_(options_.optimization_problem_options(), optimization_problem_(options_.optimization_problem_options(),

4
cartographer/mapping_3d/pose_graph.h
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@ -58,7 +58,7 @@ namespace mapping_3d {
// All constraints are between a submap i and a node j. // All constraints are between a submap i and a node j.
class PoseGraph : public mapping::PoseGraph { class PoseGraph : public mapping::PoseGraph {
public: public:
PoseGraph(const mapping::proto::SparsePoseGraphOptions& options, PoseGraph(const mapping::proto::PoseGraphOptions& options,
common::ThreadPool* thread_pool); common::ThreadPool* thread_pool);
~PoseGraph() override; ~PoseGraph() override;
@ -194,7 +194,7 @@ class PoseGraph : public mapping::PoseGraph {
void UpdateTrajectoryConnectivity(const Constraint& constraint) void UpdateTrajectoryConnectivity(const Constraint& constraint)
REQUIRES(mutex_); REQUIRES(mutex_);
const mapping::proto::SparsePoseGraphOptions options_; const mapping::proto::PoseGraphOptions options_;
common::Mutex mutex_; common::Mutex mutex_;
// If it exists, further work items must be added to this queue, and will be // If it exists, further work items must be added to this queue, and will be

4
configuration_files/map_builder.lua
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@ -12,11 +12,11 @@
-- See the License for the specific language governing permissions and -- See the License for the specific language governing permissions and
-- limitations under the License. -- limitations under the License.
include "sparse_pose_graph.lua" include "pose_graph.lua"
MAP_BUILDER = { MAP_BUILDER = {
use_trajectory_builder_2d = false, use_trajectory_builder_2d = false,
use_trajectory_builder_3d = false, use_trajectory_builder_3d = false,
num_background_threads = 4, num_background_threads = 4,
sparse_pose_graph = SPARSE_POSE_GRAPH, pose_graph = POSE_GRAPH,
} }

2
configuration_files/sparse_pose_graph.lua → configuration_files/pose_graph.lua
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@ -12,7 +12,7 @@
-- See the License for the specific language governing permissions and -- See the License for the specific language governing permissions and
-- limitations under the License. -- limitations under the License.
SPARSE_POSE_GRAPH = { POSE_GRAPH = {
optimize_every_n_scans = 90, optimize_every_n_scans = 90,
constraint_builder = { constraint_builder = {
sampling_ratio = 0.3, sampling_ratio = 0.3,

6
docs/source/configuration.rst
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@ -117,12 +117,12 @@ bool use_trajectory_builder_3d
int32 num_background_threads int32 num_background_threads
Number of threads to use for background computations. 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. Not yet documented.
cartographer.mapping.proto.SparsePoseGraphOptions cartographer.mapping.proto.PoseGraphOptions
================================================= ===========================================
int32 optimize_every_n_scans int32 optimize_every_n_scans
Online loop closure: If positive, will run the loop closure while the map Online loop closure: If positive, will run the loop closure while the map