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Remove struct TimedRangeData. (#1735) 

It was only used in a unit test which can be improved
by removing it.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
master
Wolfgang Hess 2020-08-20 11:07:25 +02:00 committed by GitHub
parent 9b405c3dc8
commit 1c8c1d144e
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 7 additions and 38 deletions
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15
cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
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@ -197,7 +197,8 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
return first * (to - from) + from; return first * (to - from) + from;
} }
sensor::TimedRangeData GenerateRangeData(const transform::Rigid3d& pose) { sensor::TimedPointCloudData GeneratePointCloudData(
const transform::Rigid3d& pose, const common::Time time) {
// 360 degree rays at 16 angles. // 360 degree rays at 16 angles.
sensor::TimedPointCloud directions_in_rangefinder_frame; sensor::TimedPointCloud directions_in_rangefinder_frame;
for (int r = -8; r != 8; ++r) { for (int r = -8; r != 8; ++r) {
@ -237,10 +238,9 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
0.}; 0.};
returns_in_world_frame.push_back(return_point); returns_in_world_frame.push_back(return_point);
} }
return {Eigen::Vector3f::Zero(), return {time, Eigen::Vector3f::Zero(),
sensor::TransformTimedPointCloud(returns_in_world_frame, sensor::TransformTimedPointCloud(returns_in_world_frame,
pose.inverse().cast<float>()), pose.inverse().cast<float>())};
{}};
} }
void AddLinearOnlyImuObservation(const common::Time time, void AddLinearOnlyImuObservation(const common::Time time,
@ -278,11 +278,10 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
int num_poses = 0; int num_poses = 0;
for (const TrajectoryNode& node : expected_trajectory) { for (const TrajectoryNode& node : expected_trajectory) {
AddLinearOnlyImuObservation(node.time, node.pose); AddLinearOnlyImuObservation(node.time, node.pose);
const auto range_data = GenerateRangeData(node.pose); const auto point_cloud = GeneratePointCloudData(node.pose, node.time);
const std::unique_ptr<LocalTrajectoryBuilder3D::MatchingResult> const std::unique_ptr<LocalTrajectoryBuilder3D::MatchingResult>
matching_result = local_trajectory_builder_->AddRangeData( matching_result =
kSensorId, sensor::TimedPointCloudData{ local_trajectory_builder_->AddRangeData(kSensorId, point_cloud);
node.time, range_data.origin, range_data.returns});
if (matching_result != nullptr) { if (matching_result != nullptr) {
EXPECT_THAT(matching_result->local_pose, EXPECT_THAT(matching_result->local_pose,
transform::IsNearly(node.pose, 1e-1)); transform::IsNearly(node.pose, 1e-1));

16
cartographer/sensor/range_data.cc
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@ -31,15 +31,6 @@ RangeData TransformRangeData(const RangeData& range_data,
}; };
} }
TimedRangeData TransformTimedRangeData(const TimedRangeData& range_data,
const transform::Rigid3f& transform) {
return TimedRangeData{
transform * range_data.origin,
TransformTimedPointCloud(range_data.returns, transform),
TransformTimedPointCloud(range_data.misses, transform),
};
}
RangeData CropRangeData(const RangeData& range_data, const float min_z, RangeData CropRangeData(const RangeData& range_data, const float min_z,
const float max_z) { const float max_z) {
return RangeData{range_data.origin, return RangeData{range_data.origin,
@ -47,13 +38,6 @@ RangeData CropRangeData(const RangeData& range_data, const float min_z,
CropPointCloud(range_data.misses, min_z, max_z)}; CropPointCloud(range_data.misses, min_z, max_z)};
} }
TimedRangeData CropTimedRangeData(const TimedRangeData& range_data,
const float min_z, const float max_z) {
return TimedRangeData{range_data.origin,
CropTimedPointCloud(range_data.returns, min_z, max_z),
CropTimedPointCloud(range_data.misses, min_z, max_z)};
}
proto::RangeData ToProto(const RangeData& range_data) { proto::RangeData ToProto(const RangeData& range_data) {
proto::RangeData proto; proto::RangeData proto;
*proto.mutable_origin() = transform::ToProto(range_data.origin); *proto.mutable_origin() = transform::ToProto(range_data.origin);

14
cartographer/sensor/range_data.h
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@ -35,26 +35,12 @@ struct RangeData {
PointCloud misses; PointCloud misses;
}; };
// Like 'RangeData', but with 'TimedPointClouds'.
struct TimedRangeData {
Eigen::Vector3f origin;
TimedPointCloud returns;
TimedPointCloud misses;
};
RangeData TransformRangeData(const RangeData& range_data, RangeData TransformRangeData(const RangeData& range_data,
const transform::Rigid3f& transform); const transform::Rigid3f& transform);
TimedRangeData TransformTimedRangeData(const TimedRangeData& range_data,
const transform::Rigid3f& transform);
// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'. // Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
RangeData CropRangeData(const RangeData& range_data, float min_z, float max_z); RangeData CropRangeData(const RangeData& range_data, float min_z, float max_z);
// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
TimedRangeData CropTimedRangeData(const TimedRangeData& range_data, float min_z,
float max_z);
// Converts 'range_data' to a proto::RangeData. // Converts 'range_data' to a proto::RangeData.
proto::RangeData ToProto(const RangeData& range_data); proto::RangeData ToProto(const RangeData& range_data);