12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
cartographer/mapping/map_builder.cc
View File

@ -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<mapping_2d::PoseGraph>(
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<mapping_3d::PoseGraph>(
options_.sparse_pose_graph_options(), &thread_pool_);
options_.pose_graph_options(), &thread_pool_);
pose_graph_ = pose_graph_3d_.get();
}
}

4
cartographer/mapping/pose_graph.cc
View File

@ -68,9 +68,9 @@ std::vector<PoseGraph::Constraint> 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() =

4
cartographer/mapping/pose_graph.h
View File

@ -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 {

4
cartographer/mapping/proto/map_builder_options.proto
View File

@ -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;
}

2
cartographer/mapping/proto/sparse_pose_graph_options.proto → cartographer/mapping/proto/pose_graph_options.proto
View File

@ -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;

2
cartographer/mapping_2d/pose_graph.cc
View File

@ -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()),

4
cartographer/mapping_2d/pose_graph.h
View File

@ -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

2
cartographer/mapping_2d/pose_graph_test.cc
View File

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

2
cartographer/mapping_3d/pose_graph.cc
View File

@ -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(),

4
cartographer/mapping_3d/pose_graph.h
View File

@ -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

4
configuration_files/map_builder.lua
View File

@ -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,
}

2
configuration_files/sparse_pose_graph.lua → configuration_files/pose_graph.lua
View File

@ -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,

6
docs/source/configuration.rst
View File

@ -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