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Move the mapping_3d/sparse_pose_graph directory. (#676) 

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
master
Wolfgang Hess 2017-11-15 11:30:35 +01:00 committed by Wally B. Feed
parent 26db9d6210
commit 36b9cf7f9a
8 changed files with 38 additions and 38 deletions
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6
cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc → cartographer/mapping_3d/pose_graph/constraint_builder.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h" #include "cartographer/mapping_3d/pose_graph/constraint_builder.h"
#include <cmath> #include <cmath>
#include <functional> #include <functional>
@ -36,7 +36,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
namespace sparse_pose_graph { namespace pose_graph {
ConstraintBuilder::ConstraintBuilder( ConstraintBuilder::ConstraintBuilder(
const mapping::pose_graph::proto::ConstraintBuilderOptions& options, const mapping::pose_graph::proto::ConstraintBuilderOptions& options,
@ -308,6 +308,6 @@ void ConstraintBuilder::DeleteScanMatcher(const mapping::SubmapId& submap_id) {
submap_scan_matchers_.erase(submap_id); submap_scan_matchers_.erase(submap_id);
} }
} // namespace sparse_pose_graph } // namespace pose_graph
} // namespace mapping_3d } // namespace mapping_3d
} // namespace cartographer } // namespace cartographer

12
cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h → cartographer/mapping_3d/pose_graph/constraint_builder.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_ #ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_H_
#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_ #define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_H_
#include <array> #include <array>
#include <deque> #include <deque>
@ -32,9 +32,9 @@
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping_3d/pose_graph/optimization_problem.h"
#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h" #include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h"
#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h" #include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h"
#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h"
#include "cartographer/mapping_3d/submaps.h" #include "cartographer/mapping_3d/submaps.h"
#include "cartographer/sensor/compressed_point_cloud.h" #include "cartographer/sensor/compressed_point_cloud.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
@ -42,7 +42,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
namespace sparse_pose_graph { namespace pose_graph {
// Asynchronously computes constraints. // Asynchronously computes constraints.
// //
@ -191,8 +191,8 @@ class ConstraintBuilder {
common::Histogram low_resolution_score_histogram_ GUARDED_BY(mutex_); common::Histogram low_resolution_score_histogram_ GUARDED_BY(mutex_);
}; };
} // namespace sparse_pose_graph } // namespace pose_graph
} // namespace mapping_3d } // namespace mapping_3d
} // namespace cartographer } // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_ #endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_H_

8
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc → cartographer/mapping_3d/pose_graph/optimization_problem.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" #include "cartographer/mapping_3d/pose_graph/optimization_problem.h"
#include <algorithm> #include <algorithm>
#include <array> #include <array>
@ -33,9 +33,9 @@
#include "cartographer/mapping_3d/acceleration_cost_function.h" #include "cartographer/mapping_3d/acceleration_cost_function.h"
#include "cartographer/mapping_3d/ceres_pose.h" #include "cartographer/mapping_3d/ceres_pose.h"
#include "cartographer/mapping_3d/imu_integration.h" #include "cartographer/mapping_3d/imu_integration.h"
#include "cartographer/mapping_3d/pose_graph/spa_cost_function.h"
#include "cartographer/mapping_3d/rotation_cost_function.h" #include "cartographer/mapping_3d/rotation_cost_function.h"
#include "cartographer/mapping_3d/rotation_parameterization.h" #include "cartographer/mapping_3d/rotation_parameterization.h"
#include "cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h"
#include "cartographer/transform/timestamped_transform.h" #include "cartographer/transform/timestamped_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"
@ -45,7 +45,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
namespace sparse_pose_graph { namespace pose_graph {
namespace { namespace {
@ -484,6 +484,6 @@ transform::Rigid3d OptimizationProblem::ComputeRelativePose(
return first_node_data.local_pose.inverse() * second_node_data.local_pose; return first_node_data.local_pose.inverse() * second_node_data.local_pose;
} }
} // namespace sparse_pose_graph } // namespace pose_graph
} // namespace mapping_3d } // namespace mapping_3d
} // namespace cartographer } // namespace cartographer

10
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h → cartographer/mapping_3d/pose_graph/optimization_problem.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ #ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_
#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ #define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_
#include <array> #include <array>
#include <deque> #include <deque>
@ -38,7 +38,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
namespace sparse_pose_graph { namespace pose_graph {
struct NodeData { struct NodeData {
common::Time time; common::Time time;
@ -116,8 +116,8 @@ class OptimizationProblem {
std::vector<TrajectoryData> trajectory_data_; std::vector<TrajectoryData> trajectory_data_;
}; };
} // namespace sparse_pose_graph } // namespace pose_graph
} // namespace mapping_3d } // namespace mapping_3d
} // namespace cartographer } // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ #endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_

6
cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc → cartographer/mapping_3d/pose_graph/optimization_problem_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" #include "cartographer/mapping_3d/pose_graph/optimization_problem.h"
#include <random> #include <random>
@ -28,7 +28,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
namespace sparse_pose_graph { namespace pose_graph {
namespace { namespace {
class OptimizationProblemTest : public ::testing::Test { class OptimizationProblemTest : public ::testing::Test {
@ -189,6 +189,6 @@ TEST_F(OptimizationProblemTest, ReducesNoise) {
} }
} // namespace } // namespace
} // namespace sparse_pose_graph } // namespace pose_graph
} // namespace mapping_3d } // namespace mapping_3d
} // namespace cartographer } // namespace cartographer

10
cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h → cartographer/mapping_3d/pose_graph/spa_cost_function.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_ #ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_
#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_ #define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_
#include <array> #include <array>
@ -30,7 +30,7 @@
namespace cartographer { namespace cartographer {
namespace mapping_3d { namespace mapping_3d {
namespace sparse_pose_graph { namespace pose_graph {
class SpaCostFunction { class SpaCostFunction {
public: public:
@ -103,8 +103,8 @@ class SpaCostFunction {
const Constraint::Pose pose_; const Constraint::Pose pose_;
}; };
} // namespace sparse_pose_graph } // namespace pose_graph
} // namespace mapping_3d } // namespace mapping_3d
} // namespace cartographer } // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_ #endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_

12
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -43,7 +43,7 @@ SparsePoseGraph::SparsePoseGraph(
common::ThreadPool* thread_pool) common::ThreadPool* thread_pool)
: options_(options), : options_(options),
optimization_problem_(options_.optimization_problem_options(), optimization_problem_(options_.optimization_problem_options(),
sparse_pose_graph::OptimizationProblem::FixZ::kNo), pose_graph::OptimizationProblem::FixZ::kNo),
constraint_builder_(options_.constraint_builder_options(), thread_pool) {} constraint_builder_(options_.constraint_builder_options(), thread_pool) {}
SparsePoseGraph::~SparsePoseGraph() { SparsePoseGraph::~SparsePoseGraph() {
@ -324,7 +324,7 @@ void SparsePoseGraph::UpdateTrajectoryConnectivity(
void SparsePoseGraph::HandleWorkQueue() { void SparsePoseGraph::HandleWorkQueue() {
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
[this](const sparse_pose_graph::ConstraintBuilder::Result& result) { [this](const pose_graph::ConstraintBuilder::Result& result) {
{ {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end()); constraints_.insert(constraints_.end(), result.begin(), result.end());
@ -378,8 +378,8 @@ void SparsePoseGraph::WaitForAllComputations() {
} }
std::cout << "\r\x1b[KOptimizing: Done. " << std::endl; std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
[this, &notification]( [this,
const sparse_pose_graph::ConstraintBuilder::Result& result) { &notification](const pose_graph::ConstraintBuilder::Result& result) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end()); constraints_.insert(constraints_.end(), result.begin(), result.end());
notification = true; notification = true;
@ -419,7 +419,7 @@ void SparsePoseGraph::AddSubmapFromProto(
submap_data_.at(submap_id).submap = submap_ptr; submap_data_.at(submap_id).submap = submap_ptr;
// Immediately show the submap at the 'global_submap_pose'. // Immediately show the submap at the 'global_submap_pose'.
optimized_submap_transforms_.Insert( optimized_submap_transforms_.Insert(
submap_id, sparse_pose_graph::SubmapData{global_submap_pose}); submap_id, pose_graph::SubmapData{global_submap_pose});
AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) { AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1); CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
submap_data_.at(submap_id).state = SubmapState::kFinished; submap_data_.at(submap_id).state = SubmapState::kFinished;
@ -652,7 +652,7 @@ SparsePoseGraph::GetAllSubmapData() {
} }
transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform( transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
const mapping::MapById<mapping::SubmapId, sparse_pose_graph::SubmapData>& const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>&
submap_transforms, submap_transforms,
const int trajectory_id) const { const int trajectory_id) const {
auto begin_it = submap_transforms.BeginOfTrajectory(trajectory_id); auto begin_it = submap_transforms.BeginOfTrajectory(trajectory_id);

12
cartographer/mapping_3d/sparse_pose_graph.h
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@ -35,8 +35,8 @@
#include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/sparse_pose_graph.h" #include "cartographer/mapping/sparse_pose_graph.h"
#include "cartographer/mapping/trajectory_connectivity_state.h" #include "cartographer/mapping/trajectory_connectivity_state.h"
#include "cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h" #include "cartographer/mapping_3d/pose_graph/constraint_builder.h"
#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" #include "cartographer/mapping_3d/pose_graph/optimization_problem.h"
#include "cartographer/mapping_3d/submaps.h" #include "cartographer/mapping_3d/submaps.h"
#include "cartographer/sensor/fixed_frame_pose_data.h" #include "cartographer/sensor/fixed_frame_pose_data.h"
#include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/odometry_data.h"
@ -175,7 +175,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// Computes the local to global map frame transform based on the given // Computes the local to global map frame transform based on the given
// optimized 'submap_transforms'. // optimized 'submap_transforms'.
transform::Rigid3d ComputeLocalToGlobalTransform( transform::Rigid3d ComputeLocalToGlobalTransform(
const mapping::MapById<mapping::SubmapId, sparse_pose_graph::SubmapData>& const mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>&
submap_transforms, submap_transforms,
int trajectory_id) const REQUIRES(mutex_); int trajectory_id) const REQUIRES(mutex_);
@ -216,8 +216,8 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
bool run_loop_closure_ GUARDED_BY(mutex_) = false; bool run_loop_closure_ GUARDED_BY(mutex_) = false;
// Current optimization problem. // Current optimization problem.
sparse_pose_graph::OptimizationProblem optimization_problem_; pose_graph::OptimizationProblem optimization_problem_;
sparse_pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_); pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_);
std::vector<Constraint> constraints_ GUARDED_BY(mutex_); std::vector<Constraint> constraints_ GUARDED_BY(mutex_);
// Submaps get assigned an ID and state as soon as they are seen, even // Submaps get assigned an ID and state as soon as they are seen, even
@ -231,7 +231,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0; int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0;
// Current submap transforms used for displaying data. // Current submap transforms used for displaying data.
mapping::MapById<mapping::SubmapId, sparse_pose_graph::SubmapData> mapping::MapById<mapping::SubmapId, pose_graph::SubmapData>
optimized_submap_transforms_ GUARDED_BY(mutex_); optimized_submap_transforms_ GUARDED_BY(mutex_);
// List of all trimmers to consult when optimizations finish. // List of all trimmers to consult when optimizations finish.