Moves SensorCollator into sensor package. (#58)

cartographer/mapping/CMakeLists.txt

@@ -91,18 +91,6 @@ google_library(mapping_probability_values
     common_port
 )
 
-google_library(mapping_sensor_collator
-  USES_EIGEN
-  USES_GLOG
-  HDRS
-    sensor_collator.h
-  DEPENDS
-    common_make_unique
-    common_ordered_multi_queue
-    common_time
-    sensor_sensor_packet_period_histogram_builder
-)
-
 google_library(mapping_sparse_pose_graph
   USES_GLOG
   SRCS
@@ -166,17 +154,6 @@ google_test(mapping_probability_values_test
     mapping_probability_values
 )
 
-google_test(mapping_sensor_collator_test
-  SRCS
-    sensor_collator_test.cc
-  DEPENDS
-    common_lua_parameter_dictionary_test_helpers
-    common_make_unique
-    common_time
-    mapping_sensor_collator
-    sensor_proto_sensor
-)
-
 google_test(mapping_sparse_pose_graph_test
   USES_GLOG
   SRCS

cartographer/sensor/CMakeLists.txt

@@ -14,6 +14,18 @@
 
 add_subdirectory("proto")
 
+google_library(sensor_collator
+  USES_EIGEN
+  USES_GLOG
+  HDRS
+    collator.h
+  DEPENDS
+    common_make_unique
+    common_ordered_multi_queue
+    common_time
+    sensor_sensor_packet_period_histogram_builder
+)
+
 google_library(sensor_compressed_point_cloud
   USES_EIGEN
   SRCS
@@ -102,6 +114,17 @@ google_library(sensor_voxel_filter
     sensor_proto_adaptive_voxel_filter_options
 )
 
+google_test(sensor_collator_test
+  SRCS
+    collator_test.cc
+  DEPENDS
+    common_lua_parameter_dictionary_test_helpers
+    common_make_unique
+    common_time
+    sensor_collator
+    sensor_proto_sensor
+)
+
 google_test(sensor_compressed_point_cloud_test
   SRCS
     compressed_point_cloud_test.cc

cartographer/sensor/collator.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_SENSOR_COLLATOR_H_
+#ifndef CARTOGRAPHER_SENSOR_COLLATOR_H_
-#define CARTOGRAPHER_MAPPING_SENSOR_COLLATOR_H_
+#define CARTOGRAPHER_SENSOR_COLLATOR_H_
 
 #include <functional>
 #include <memory>
@@ -32,32 +32,32 @@
 #include "glog/logging.h"
 
 namespace cartographer {
-namespace mapping {
+namespace sensor {
 
-struct SensorCollatorQueueKey {
+struct CollatorQueueKey {
   int trajectory_id;
   string sensor_id;
 
-  bool operator<(const SensorCollatorQueueKey& other) const {
+  bool operator<(const CollatorQueueKey& other) const {
     return std::forward_as_tuple(trajectory_id, sensor_id) <
            std::forward_as_tuple(other.trajectory_id, other.sensor_id);
   }
 };
 
 inline std::ostream& operator<<(std::ostream& out,
-                                const SensorCollatorQueueKey& key) {
+                                const CollatorQueueKey& key) {
   return out << '(' << key.trajectory_id << ", " << key.sensor_id << ')';
 }
 
 template <typename SensorDataType>
-class SensorCollator {
+class Collator {
  public:
   using Callback = std::function<void(int64, std::unique_ptr<SensorDataType>)>;
 
-  SensorCollator() {}
+  Collator() {}
 
-  SensorCollator(const SensorCollator&) = delete;
+  Collator(const Collator&) = delete;
-  SensorCollator& operator=(const SensorCollator&) = delete;
+  Collator& operator=(const Collator&) = delete;
 
   // Adds a trajectory to produce sorted sensor output for. Calls 'callback'
   // for each collated sensor data.
@@ -65,7 +65,7 @@ class SensorCollator {
                      const std::unordered_set<string>& expected_sensor_ids,
                      const Callback callback) {
     for (const auto& sensor_id : expected_sensor_ids) {
-      const auto queue_key = SensorCollatorQueueKey{trajectory_id, sensor_id};
+      const auto queue_key = CollatorQueueKey{trajectory_id, sensor_id};
       queue_.AddQueue(queue_key, [callback](std::unique_ptr<Value> value) {
         callback(value->timestamp, std::move(value->sensor_data));
       });
@@ -89,7 +89,7 @@ class SensorCollator {
     sensor_packet_period_histogram_builder_.Add(trajectory_id, timestamp,
                                                 sensor_id);
     queue_.Add(
-        SensorCollatorQueueKey{trajectory_id, sensor_id}, timestamp,
+        CollatorQueueKey{trajectory_id, sensor_id}, timestamp,
         common::make_unique<Value>(Value{timestamp, std::move(sensor_data)}));
   }
 
@@ -117,15 +117,15 @@ class SensorCollator {
   };
 
   // Queue keys are a pair of trajectory ID and sensor identifier.
-  common::OrderedMultiQueue<SensorCollatorQueueKey, int64, Value> queue_;
+  common::OrderedMultiQueue<CollatorQueueKey, int64, Value> queue_;
 
   // Map of trajectory ID to all associated QueueKeys.
-  std::unordered_map<int, std::vector<SensorCollatorQueueKey>> queue_keys_;
+  std::unordered_map<int, std::vector<CollatorQueueKey>> queue_keys_;
   sensor::SensorPacketPeriodHistogramBuilder
       sensor_packet_period_histogram_builder_;
 };
 
-}  // namespace mapping
+}  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_SENSOR_COLLATOR_H_
+#endif  // CARTOGRAPHER_SENSOR_COLLATOR_H_

cartographer/sensor/collator_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/sensor_collator.h"
+#include "cartographer/sensor/collator.h"
 
 #include <memory>
 
@@ -25,14 +25,14 @@
 #include "gtest/gtest.h"
 
 namespace cartographer {
-namespace mapping {
+namespace sensor {
 namespace {
 
 struct TestData {
   string frame_id;
 };
 
-TEST(SensorCollator, Ordering) {
+TEST(Collator, Ordering) {
   TestData first{"horizontal_laser"};
   TestData second{"vertical_laser"};
   TestData third{"imu"};
@@ -43,25 +43,25 @@ TEST(SensorCollator, Ordering) {
   const std::unordered_set<string> frame_ids = {
       "horizontal_laser", "vertical_laser", "imu", "something"};
   std::vector<std::pair<int64, TestData>> received;
-  SensorCollator<TestData> sensor_collator;
+  Collator<TestData> collator;
-  sensor_collator.AddTrajectory(
+  collator.AddTrajectory(
       0, frame_ids,
       [&received](const int64 timestamp, std::unique_ptr<TestData> packet) {
         received.push_back(std::make_pair(timestamp, *packet));
       });
 
-  sensor_collator.AddSensorData(0, 100, first.frame_id,
+  collator.AddSensorData(0, 100, first.frame_id,
-                                common::make_unique<TestData>(first));
+                         common::make_unique<TestData>(first));
-  sensor_collator.AddSensorData(0, 600, sixth.frame_id,
+  collator.AddSensorData(0, 600, sixth.frame_id,
-                                common::make_unique<TestData>(sixth));
+                         common::make_unique<TestData>(sixth));
-  sensor_collator.AddSensorData(0, 400, fourth.frame_id,
+  collator.AddSensorData(0, 400, fourth.frame_id,
-                                common::make_unique<TestData>(fourth));
+                         common::make_unique<TestData>(fourth));
-  sensor_collator.AddSensorData(0, 200, second.frame_id,
+  collator.AddSensorData(0, 200, second.frame_id,
-                                common::make_unique<TestData>(second));
+                         common::make_unique<TestData>(second));
-  sensor_collator.AddSensorData(0, 500, fifth.frame_id,
+  collator.AddSensorData(0, 500, fifth.frame_id,
-                                common::make_unique<TestData>(fifth));
+                         common::make_unique<TestData>(fifth));
-  sensor_collator.AddSensorData(0, 300, third.frame_id,
+  collator.AddSensorData(0, 300, third.frame_id,
-                                common::make_unique<TestData>(third));
+                         common::make_unique<TestData>(third));
 
   EXPECT_EQ(3, received.size());
   EXPECT_EQ(100, received[0].first);
@@ -71,7 +71,7 @@ TEST(SensorCollator, Ordering) {
   EXPECT_EQ(300, received[2].first);
   EXPECT_EQ("imu", received[2].second.frame_id);
 
-  sensor_collator.Flush();
+  collator.Flush();
 
   ASSERT_EQ(6, received.size());
   EXPECT_EQ("horizontal_laser", received[3].second.frame_id);
@@ -82,5 +82,5 @@ TEST(SensorCollator, Ordering) {
 }
 
 }  // namespace
-}  // namespace mapping
+}  // namespace sensor
 }  // namespace cartographer