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Correct spelling to bandwidth (#1490) 

Previously, two config values were spelled "bandwith".
The assumption is that these values are not used in other
repositories so the rename is harmless.
master
Andre Gaschler 2019-01-02 13:12:26 +01:00 committed by GitHub
parent 9925d360f4
commit 5182dd1bf9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 35 additions and 34 deletions
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4
cartographer/mapping/2d/submap_2d_test.cc
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@ -60,8 +60,8 @@ TEST(Submap2DTest, TheRightNumberOfRangeDataAreInserted) {
"}," "},"
"project_sdf_distance_to_scan_normal = false," "project_sdf_distance_to_scan_normal = false,"
"update_weight_range_exponent = 0," "update_weight_range_exponent = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0," "update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0,"
"update_weight_distance_cell_to_hit_kernel_bandwith = 0," "update_weight_distance_cell_to_hit_kernel_bandwidth = 0,"
"}," "},"
"}," "},"
"}"); "}");

18
cartographer/mapping/2d/tsdf_range_data_inserter_2d.cc
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@ -111,12 +111,12 @@ proto::TSDFRangeDataInserterOptions2D CreateTSDFRangeDataInserterOptions2D(
parameter_dictionary->GetBool("project_sdf_distance_to_scan_normal")); parameter_dictionary->GetBool("project_sdf_distance_to_scan_normal"));
options.set_update_weight_range_exponent( options.set_update_weight_range_exponent(
parameter_dictionary->GetInt("update_weight_range_exponent")); parameter_dictionary->GetInt("update_weight_range_exponent"));
options.set_update_weight_angle_scan_normal_to_ray_kernel_bandwith( options.set_update_weight_angle_scan_normal_to_ray_kernel_bandwidth(
parameter_dictionary->GetDouble( parameter_dictionary->GetDouble(
"update_weight_angle_scan_normal_to_ray_kernel_bandwith")); "update_weight_angle_scan_normal_to_ray_kernel_bandwidth"));
options.set_update_weight_distance_cell_to_hit_kernel_bandwith( options.set_update_weight_distance_cell_to_hit_kernel_bandwidth(
parameter_dictionary->GetDouble( parameter_dictionary->GetDouble(
"update_weight_distance_cell_to_hit_kernel_bandwith")); "update_weight_distance_cell_to_hit_kernel_bandwidth"));
return options; return options;
} }
@ -137,7 +137,7 @@ void TSDFRangeDataInserter2D::Insert(const sensor::RangeData& range_data,
// Compute normals if needed. // Compute normals if needed.
bool scale_update_weight_angle_scan_normal_to_ray = bool scale_update_weight_angle_scan_normal_to_ray =
options_.update_weight_angle_scan_normal_to_ray_kernel_bandwith() != 0.f; options_.update_weight_angle_scan_normal_to_ray_kernel_bandwidth() != 0.f;
sensor::RangeData sorted_range_data = range_data; sensor::RangeData sorted_range_data = range_data;
std::vector<float> normals; std::vector<float> normals;
if (options_.project_sdf_distance_to_scan_normal() || if (options_.project_sdf_distance_to_scan_normal() ||
@ -183,14 +183,14 @@ void TSDFRangeDataInserter2D::InsertHit(
// Precompute weight factors. // Precompute weight factors.
float weight_factor_angle_ray_normal = 1.f; float weight_factor_angle_ray_normal = 1.f;
if (options_.update_weight_angle_scan_normal_to_ray_kernel_bandwith() != if (options_.update_weight_angle_scan_normal_to_ray_kernel_bandwidth() !=
0.f) { 0.f) {
const Eigen::Vector2f negative_ray = -ray; const Eigen::Vector2f negative_ray = -ray;
float angle_ray_normal = float angle_ray_normal =
common::NormalizeAngleDifference(normal - common::atan2(negative_ray)); common::NormalizeAngleDifference(normal - common::atan2(negative_ray));
weight_factor_angle_ray_normal = GaussianKernel( weight_factor_angle_ray_normal = GaussianKernel(
angle_ray_normal, angle_ray_normal,
options_.update_weight_angle_scan_normal_to_ray_kernel_bandwith()); options_.update_weight_angle_scan_normal_to_ray_kernel_bandwidth());
} }
float weight_factor_range = 1.f; float weight_factor_range = 1.f;
if (options_.update_weight_range_exponent() != 0) { if (options_.update_weight_range_exponent() != 0) {
@ -213,10 +213,10 @@ void TSDFRangeDataInserter2D::InsertHit(
update_tsd = update_tsd =
common::Clamp(update_tsd, -truncation_distance, truncation_distance); common::Clamp(update_tsd, -truncation_distance, truncation_distance);
float update_weight = weight_factor_range * weight_factor_angle_ray_normal; float update_weight = weight_factor_range * weight_factor_angle_ray_normal;
if (options_.update_weight_distance_cell_to_hit_kernel_bandwith() != 0.f) { if (options_.update_weight_distance_cell_to_hit_kernel_bandwidth() != 0.f) {
update_weight *= GaussianKernel( update_weight *= GaussianKernel(
update_tsd, update_tsd,
options_.update_weight_distance_cell_to_hit_kernel_bandwith()); options_.update_weight_distance_cell_to_hit_kernel_bandwidth());
} }
UpdateCell(cell_index, update_tsd, update_weight, tsdf); UpdateCell(cell_index, update_tsd, update_weight, tsdf);
} }

23
cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
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@ -40,8 +40,8 @@ class RangeDataInserterTest2DTSDF : public ::testing::Test {
"}," "},"
"project_sdf_distance_to_scan_normal = false," "project_sdf_distance_to_scan_normal = false,"
"update_weight_range_exponent = 0," "update_weight_range_exponent = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0," "update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0,"
"update_weight_distance_cell_to_hit_kernel_bandwith = 0," "update_weight_distance_cell_to_hit_kernel_bandwidth = 0,"
"}"); "}");
options_ = CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get()); options_ = CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get());
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_); range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
@ -289,8 +289,9 @@ TEST_F(RangeDataInserterTest2DTSDF, InsertSmallAnglePointWitNormalProjection) {
TEST_F(RangeDataInserterTest2DTSDF, TEST_F(RangeDataInserterTest2DTSDF,
InsertPointsWithAngleScanNormalToRayWeight) { InsertPointsWithAngleScanNormalToRayWeight) {
float bandwith = 10.f; float bandwidth = 10.f;
options_.set_update_weight_angle_scan_normal_to_ray_kernel_bandwith(bandwith); options_.set_update_weight_angle_scan_normal_to_ray_kernel_bandwidth(
bandwidth);
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_); range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
sensor::RangeData range_data; sensor::RangeData range_data;
range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}}); range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
@ -304,7 +305,7 @@ TEST_F(RangeDataInserterTest2DTSDF,
// Ray is perpendicular to surface. // Ray is perpendicular to surface.
Eigen::Array2i cell_index = Eigen::Array2i cell_index =
tsdf_.limits().GetCellIndex(Eigen::Vector2f(x, y)); tsdf_.limits().GetCellIndex(Eigen::Vector2f(x, y));
float expected_weight = 1.f / (std::sqrt(2 * M_PI) * bandwith); float expected_weight = 1.f / (std::sqrt(2 * M_PI) * bandwidth);
EXPECT_NEAR(expected_weight, tsdf_.GetWeight(cell_index), 1e-3); EXPECT_NEAR(expected_weight, tsdf_.GetWeight(cell_index), 1e-3);
x = 6.5f; x = 6.5f;
y = 4.5f; y = 4.5f;
@ -313,8 +314,8 @@ TEST_F(RangeDataInserterTest2DTSDF,
// Ray is inclined relative to surface. // Ray is inclined relative to surface.
cell_index = tsdf_.limits().GetCellIndex(Eigen::Vector2f(x, y)); cell_index = tsdf_.limits().GetCellIndex(Eigen::Vector2f(x, y));
float angle = std::atan(7.f / 5.f); float angle = std::atan(7.f / 5.f);
expected_weight = 1.f / (std::sqrt(2 * M_PI) * bandwith) * expected_weight = 1.f / (std::sqrt(2 * M_PI) * bandwidth) *
std::exp(angle * angle / (2 * std::pow(bandwith, 2))); std::exp(angle * angle / (2 * std::pow(bandwidth, 2)));
EXPECT_NEAR(expected_weight, tsdf_.GetWeight(cell_index), 1e-3); EXPECT_NEAR(expected_weight, tsdf_.GetWeight(cell_index), 1e-3);
x = 6.5f; x = 6.5f;
y = 4.5f; y = 4.5f;
@ -323,8 +324,8 @@ TEST_F(RangeDataInserterTest2DTSDF,
} }
TEST_F(RangeDataInserterTest2DTSDF, InsertPointsWithDistanceCellToHit) { TEST_F(RangeDataInserterTest2DTSDF, InsertPointsWithDistanceCellToHit) {
float bandwith = 10.f; float bandwidth = 10.f;
options_.set_update_weight_distance_cell_to_hit_kernel_bandwith(bandwith); options_.set_update_weight_distance_cell_to_hit_kernel_bandwidth(bandwidth);
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_); range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
InsertPoint(); InsertPoint();
const float truncation_distance = const float truncation_distance =
@ -336,8 +337,8 @@ TEST_F(RangeDataInserterTest2DTSDF, InsertPointsWithDistanceCellToHit) {
float expected_tsdf = float expected_tsdf =
std::max(std::min(3.5f - y, truncation_distance), -truncation_distance); std::max(std::min(3.5f - y, truncation_distance), -truncation_distance);
float expected_weight = float expected_weight =
1.f / (std::sqrt(2 * M_PI) * bandwith) * 1.f / (std::sqrt(2 * M_PI) * bandwidth) *
std::exp(std::pow(expected_tsdf, 2) / (2 * std::pow(bandwith, 2))); std::exp(std::pow(expected_tsdf, 2) / (2 * std::pow(bandwidth, 2)));
EXPECT_THAT(MockCellProperties(cell_index, tsdf_), EXPECT_THAT(MockCellProperties(cell_index, tsdf_),
EqualCellProperties(true, expected_tsdf, expected_weight)); EqualCellProperties(true, expected_tsdf, expected_weight));
} }

4
cartographer/mapping/internal/2d/pose_graph_2d_test.cc
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@ -73,8 +73,8 @@ class PoseGraph2DTest : public ::testing::Test {
}, },
project_sdf_distance_to_scan_normal = false, project_sdf_distance_to_scan_normal = false,
update_weight_range_exponent = 0, update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0, update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0,
update_weight_distance_cell_to_hit_kernel_bandwith = 0, update_weight_distance_cell_to_hit_kernel_bandwidth = 0,
}, },
}, },
})text"); })text");

4
cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
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@ -80,8 +80,8 @@ class RealTimeCorrelativeScanMatcherTest : public ::testing::Test {
}, },
project_sdf_distance_to_scan_normal = true, project_sdf_distance_to_scan_normal = true,
update_weight_range_exponent = 0, update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0.5, update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwith = 0.5, update_weight_distance_cell_to_hit_kernel_bandwidth = 0.5,
})text"); })text");
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>( range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(
CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get())); CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get()));

4
cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
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@ -48,8 +48,8 @@ class TSDFSpaceCostFunction2DTest : public ::testing::Test {
"}," "},"
"project_sdf_distance_to_scan_normal = true," "project_sdf_distance_to_scan_normal = true,"
"update_weight_range_exponent = 0," "update_weight_range_exponent = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0," "update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0,"
"update_weight_distance_cell_to_hit_kernel_bandwith = 0," "update_weight_distance_cell_to_hit_kernel_bandwidth = 0,"
"}"); "}");
options_ = CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get()); options_ = CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get());
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_); range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);

8
cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.proto
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@ -37,11 +37,11 @@ message TSDFRangeDataInserterOptions2D {
// Update weight is scaled with 1/distance(origin,hit)^range_exponent. // Update weight is scaled with 1/distance(origin,hit)^range_exponent.
int32 update_weight_range_exponent = 6; int32 update_weight_range_exponent = 6;
// Kernel bandwith of the weight factor based on the angle between. // Kernel bandwidth of the weight factor based on the angle between.
// scan normal and ray // scan normal and ray
double update_weight_angle_scan_normal_to_ray_kernel_bandwith = 7; double update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 7;
// Kernel bandwith of the weight factor based on the distance between // Kernel bandwidth of the weight factor based on the distance between
// cell and scan observation. // cell and scan observation.
double update_weight_distance_cell_to_hit_kernel_bandwith = 8; double update_weight_distance_cell_to_hit_kernel_bandwidth = 8;
} }

4
configuration_files/trajectory_builder_2d.lua
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@ -84,8 +84,8 @@ TRAJECTORY_BUILDER_2D = {
}, },
project_sdf_distance_to_scan_normal = true, project_sdf_distance_to_scan_normal = true,
update_weight_range_exponent = 0, update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0.5, update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwith = 0.5, update_weight_distance_cell_to_hit_kernel_bandwidth = 0.5,
}, },
}, },
}, },