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Configurable miss_per_hit_limit in outlier removing processor. (#1476) 

Was hardcoded to 3 before, but it makes sense to make this a parameter.
master
Michael Grupp 2018-12-16 00:06:09 +01:00 committed by Wally B. Feed
parent 9c92616567
commit 2abe1c72a6
2 changed files with 16 additions and 5 deletions
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17
cartographer/io/outlier_removing_points_processor.cc
View File

@ -27,13 +27,23 @@ std::unique_ptr<OutlierRemovingPointsProcessor>
OutlierRemovingPointsProcessor::FromDictionary( OutlierRemovingPointsProcessor::FromDictionary(
common::LuaParameterDictionary* const dictionary, common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) { PointsProcessor* const next) {
const double miss_per_hit_limit = [&]() {
if (!dictionary->HasKey("miss_per_hit_limit")) {
LOG(INFO) << "Using default value of 3 for miss_per_hit_limit.";
return 3.;
} else {
return dictionary->GetDouble("miss_per_hit_limit");
}
}();
return absl::make_unique<OutlierRemovingPointsProcessor>( return absl::make_unique<OutlierRemovingPointsProcessor>(
dictionary->GetDouble("voxel_size"), next); dictionary->GetDouble("voxel_size"), miss_per_hit_limit, next);
} }
OutlierRemovingPointsProcessor::OutlierRemovingPointsProcessor( OutlierRemovingPointsProcessor::OutlierRemovingPointsProcessor(
const double voxel_size, PointsProcessor* next) const double voxel_size, const double miss_per_hit_limit,
PointsProcessor* next)
: voxel_size_(voxel_size), : voxel_size_(voxel_size),
miss_per_hit_limit_(miss_per_hit_limit),
next_(next), next_(next),
state_(State::kPhase1), state_(State::kPhase1),
voxels_(voxel_size_) { voxels_(voxel_size_) {
@ -106,12 +116,11 @@ void OutlierRemovingPointsProcessor::ProcessInPhaseTwo(
void OutlierRemovingPointsProcessor::ProcessInPhaseThree( void OutlierRemovingPointsProcessor::ProcessInPhaseThree(
std::unique_ptr<PointsBatch> batch) { std::unique_ptr<PointsBatch> batch) {
constexpr double kMissPerHitLimit = 3;
absl::flat_hash_set<int> to_remove; absl::flat_hash_set<int> to_remove;
for (size_t i = 0; i < batch->points.size(); ++i) { for (size_t i = 0; i < batch->points.size(); ++i) {
const VoxelData voxel = const VoxelData voxel =
voxels_.value(voxels_.GetCellIndex(batch->points[i].position)); voxels_.value(voxels_.GetCellIndex(batch->points[i].position));
if (!(voxel.rays < kMissPerHitLimit * voxel.hits)) { if (!(voxel.rays < miss_per_hit_limit_ * voxel.hits)) {
to_remove.insert(i); to_remove.insert(i);
} }
} }

4
cartographer/io/outlier_removing_points_processor.h
View File

@ -31,7 +31,8 @@ class OutlierRemovingPointsProcessor : public PointsProcessor {
constexpr static const char* kConfigurationFileActionName = constexpr static const char* kConfigurationFileActionName =
"voxel_filter_and_remove_moving_objects"; "voxel_filter_and_remove_moving_objects";
OutlierRemovingPointsProcessor(double voxel_size, PointsProcessor* next); OutlierRemovingPointsProcessor(double voxel_size, double miss_per_hit_limit,
PointsProcessor* next);
static std::unique_ptr<OutlierRemovingPointsProcessor> FromDictionary( static std::unique_ptr<OutlierRemovingPointsProcessor> FromDictionary(
common::LuaParameterDictionary* dictionary, PointsProcessor* next); common::LuaParameterDictionary* dictionary, PointsProcessor* next);
@ -76,6 +77,7 @@ class OutlierRemovingPointsProcessor : public PointsProcessor {
void ProcessInPhaseThree(std::unique_ptr<PointsBatch> batch); void ProcessInPhaseThree(std::unique_ptr<PointsBatch> batch);
const double voxel_size_; const double voxel_size_;
const double miss_per_hit_limit_;
PointsProcessor* const next_; PointsProcessor* const next_;
State state_; State state_;
mapping::HybridGridBase<VoxelData> voxels_; mapping::HybridGridBase<VoxelData> voxels_;