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Correct spelling to bandwidth () 

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

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,"
"update_weight_range_exponent = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0,"
"update_weight_distance_cell_to_hit_kernel_bandwith = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 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"));
options.set_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(
"update_weight_angle_scan_normal_to_ray_kernel_bandwith"));
options.set_update_weight_distance_cell_to_hit_kernel_bandwith(
"update_weight_angle_scan_normal_to_ray_kernel_bandwidth"));
options.set_update_weight_distance_cell_to_hit_kernel_bandwidth(
parameter_dictionary->GetDouble(
"update_weight_distance_cell_to_hit_kernel_bandwith"));
"update_weight_distance_cell_to_hit_kernel_bandwidth"));
return options;
}
@ -137,7 +137,7 @@ void TSDFRangeDataInserter2D::Insert(const sensor::RangeData& range_data,
// Compute normals if needed.
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;
std::vector<float> normals;
if (options_.project_sdf_distance_to_scan_normal() ||
@ -183,14 +183,14 @@ void TSDFRangeDataInserter2D::InsertHit(
// Precompute weight factors.
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) {
const Eigen::Vector2f negative_ray = -ray;
float angle_ray_normal =
common::NormalizeAngleDifference(normal - common::atan2(negative_ray));
weight_factor_angle_ray_normal = GaussianKernel(
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;
if (options_.update_weight_range_exponent() != 0) {
@ -213,10 +213,10 @@ void TSDFRangeDataInserter2D::InsertHit(
update_tsd =
common::Clamp(update_tsd, -truncation_distance, truncation_distance);
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_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);
}

23
cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
View File

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

4
cartographer/mapping/internal/2d/pose_graph_2d_test.cc
View File

@ -73,8 +73,8 @@ class PoseGraph2DTest : public ::testing::Test {
},
project_sdf_distance_to_scan_normal = false,
update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0,
update_weight_distance_cell_to_hit_kernel_bandwith = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0,
update_weight_distance_cell_to_hit_kernel_bandwidth = 0,
},
},
})text");

4
cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
View File

@ -80,8 +80,8 @@ class RealTimeCorrelativeScanMatcherTest : public ::testing::Test {
},
project_sdf_distance_to_scan_normal = true,
update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwith = 0.5,
update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwidth = 0.5,
})text");
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(
CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get()));

4
cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
View File

@ -48,8 +48,8 @@ class TSDFSpaceCostFunction2DTest : public ::testing::Test {
"},"
"project_sdf_distance_to_scan_normal = true,"
"update_weight_range_exponent = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0,"
"update_weight_distance_cell_to_hit_kernel_bandwith = 0,"
"update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0,"
"update_weight_distance_cell_to_hit_kernel_bandwidth = 0,"
"}");
options_ = CreateTSDFRangeDataInserterOptions2D(parameter_dictionary.get());
range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);

8
cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.proto
View File

@ -37,11 +37,11 @@ message TSDFRangeDataInserterOptions2D {
// Update weight is scaled with 1/distance(origin,hit)^range_exponent.
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
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.
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
View File

@ -84,8 +84,8 @@ TRAJECTORY_BUILDER_2D = {
},
project_sdf_distance_to_scan_normal = true,
update_weight_range_exponent = 0,
update_weight_angle_scan_normal_to_ray_kernel_bandwith = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwith = 0.5,
update_weight_angle_scan_normal_to_ray_kernel_bandwidth = 0.5,
update_weight_distance_cell_to_hit_kernel_bandwidth = 0.5,
},
},
},