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Rename trajectory and submap visualization protos. (#101)

master
Wolfgang Hess 2016-10-26 08:45:52 +02:00 committed by Damon Kohler
parent 4917dd65ce
commit 651a7a23e7
20 changed files with 31 additions and 50 deletions
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1
cartographer/CMakeLists.txt
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@ -18,6 +18,5 @@ add_subdirectory("kalman_filter")
add_subdirectory("mapping") add_subdirectory("mapping")
add_subdirectory("mapping_2d") add_subdirectory("mapping_2d")
add_subdirectory("mapping_3d") add_subdirectory("mapping_3d")
add_subdirectory("proto")
add_subdirectory("sensor") add_subdirectory("sensor")
add_subdirectory("transform") add_subdirectory("transform")

4
cartographer/mapping/CMakeLists.txt
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@ -140,7 +140,7 @@ google_library(mapping_submaps
common_port common_port
mapping_2d_probability_grid mapping_2d_probability_grid
mapping_probability_values mapping_probability_values
mapping_proto_submaps mapping_proto_submap_visualization
mapping_trajectory_node mapping_trajectory_node
transform_transform transform_transform
) )
@ -179,7 +179,7 @@ google_library(mapping_trajectory_node
trajectory_node.h trajectory_node.h
DEPENDS DEPENDS
common_time common_time
proto_trajectory mapping_proto_trajectory
sensor_laser sensor_laser
transform_rigid_transform transform_rigid_transform
transform_transform transform_transform

13
cartographer/mapping/proto/CMakeLists.txt
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@ -30,7 +30,7 @@ google_proto_library(mapping_proto_sparse_pose_graph
SRCS SRCS
sparse_pose_graph.proto sparse_pose_graph.proto
DEPENDS DEPENDS
proto_trajectory mapping_proto_trajectory
transform_proto_transform transform_proto_transform
) )
@ -42,9 +42,16 @@ google_proto_library(mapping_proto_sparse_pose_graph_options
mapping_sparse_pose_graph_proto_optimization_problem_options mapping_sparse_pose_graph_proto_optimization_problem_options
) )
google_proto_library(mapping_proto_submaps google_proto_library(mapping_proto_submap_visualization
SRCS SRCS
submaps.proto submap_visualization.proto
DEPENDS
transform_proto_transform
)
google_proto_library(mapping_proto_trajectory
SRCS
trajectory.proto
DEPENDS DEPENDS
transform_proto_transform transform_proto_transform
) )

4
cartographer/mapping/proto/sparse_pose_graph.proto
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@ -16,8 +16,8 @@ syntax = "proto2";
package cartographer.mapping.proto; package cartographer.mapping.proto;
import "cartographer/mapping/proto/trajectory.proto";
import "cartographer/transform/proto/transform.proto"; import "cartographer/transform/proto/transform.proto";
import "cartographer/proto/trajectory.proto";
message SparsePoseGraph { message SparsePoseGraph {
message Constraint { message Constraint {
@ -50,5 +50,5 @@ message SparsePoseGraph {
} }
repeated Constraint constraint = 2; repeated Constraint constraint = 2;
repeated .cartographer.proto.Trajectory trajectory = 4; repeated Trajectory trajectory = 4;
} }

0
cartographer/mapping/proto/submaps.proto → cartographer/mapping/proto/submap_visualization.proto
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4
cartographer/proto/trajectory.proto → cartographer/mapping/proto/trajectory.proto
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@ -14,9 +14,9 @@
syntax = "proto2"; syntax = "proto2";
import "cartographer/transform/proto/transform.proto"; package cartographer.mapping.proto;
package cartographer.proto; import "cartographer/transform/proto/transform.proto";
option java_outer_classname = "TrajectoryOuterClass"; option java_outer_classname = "TrajectoryOuterClass";

2
cartographer/mapping/sparse_pose_graph.cc
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@ -121,7 +121,7 @@ proto::SparsePoseGraph SparsePoseGraph::ToProto() {
} }
// TODO(whess): Support multi-trajectory. // TODO(whess): Support multi-trajectory.
::cartographer::proto::Trajectory* const trajectory = proto.add_trajectory(); proto::Trajectory* const trajectory = proto.add_trajectory();
*trajectory = mapping::ToProto(GetTrajectoryNodes()); *trajectory = mapping::ToProto(GetTrajectoryNodes());
const std::vector<std::vector<const Submaps*>> components = const std::vector<std::vector<const Submaps*>> components =
GetConnectedTrajectories(); GetConnectedTrajectories();

2
cartographer/mapping/submaps.h
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@ -36,7 +36,7 @@
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping/proto/submaps.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping_2d/probability_grid.h"
#include "glog/logging.h" #include "glog/logging.h"

2
cartographer/mapping/trajectory_node.cc
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@ -16,8 +16,6 @@
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
#include "cartographer/common/time.h"
#include "cartographer/proto/trajectory.pb.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
namespace cartographer { namespace cartographer {

5
cartographer/mapping/trajectory_node.h
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@ -22,7 +22,7 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/proto/trajectory.pb.h" #include "cartographer/mapping/proto/trajectory.pb.h"
#include "cartographer/sensor/laser.h" #include "cartographer/sensor/laser.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
@ -67,8 +67,7 @@ struct TrajectoryNodes {
std::vector<mapping::TrajectoryNode> trajectory_nodes; std::vector<mapping::TrajectoryNode> trajectory_nodes;
}; };
::cartographer::proto::Trajectory ToProto( proto::Trajectory ToProto(const std::vector<TrajectoryNode>& nodes);
const std::vector<TrajectoryNode>& nodes);
} // namespace mapping } // namespace mapping
} // namespace cartographer } // namespace cartographer

2
cartographer/mapping_2d/CMakeLists.txt
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@ -150,7 +150,7 @@ google_library(mapping_2d_submaps
mapping_2d_map_limits mapping_2d_map_limits
mapping_2d_probability_grid mapping_2d_probability_grid
mapping_2d_proto_submaps_options mapping_2d_proto_submaps_options
mapping_proto_submaps mapping_proto_submap_visualization
mapping_submaps mapping_submaps
mapping_trajectory_node mapping_trajectory_node
sensor_laser sensor_laser

2
cartographer/mapping_2d/submaps.h
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@ -22,7 +22,7 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/proto/submaps.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping_2d/laser_fan_inserter.h" #include "cartographer/mapping_2d/laser_fan_inserter.h"

2
cartographer/mapping_3d/CMakeLists.txt
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@ -265,7 +265,7 @@ google_library(mapping_3d_submaps
mapping_3d_hybrid_grid mapping_3d_hybrid_grid
mapping_3d_laser_fan_inserter mapping_3d_laser_fan_inserter
mapping_3d_proto_submaps_options mapping_3d_proto_submaps_options
mapping_sparse_pose_graph mapping_proto_submap_visualization
mapping_submaps mapping_submaps
sensor_laser sensor_laser
transform_transform transform_transform

2
cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt
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@ -53,7 +53,6 @@ google_library(mapping_3d_sparse_pose_graph_optimization_problem
optimization_problem.h optimization_problem.h
DEPENDS DEPENDS
common_ceres_solver_options common_ceres_solver_options
common_lua_parameter_dictionary
common_make_unique common_make_unique
common_math common_math
common_port common_port
@ -64,6 +63,7 @@ google_library(mapping_3d_sparse_pose_graph_optimization_problem
mapping_3d_rotation_cost_function mapping_3d_rotation_cost_function
mapping_3d_sparse_pose_graph_spa_cost_function mapping_3d_sparse_pose_graph_spa_cost_function
mapping_3d_submaps mapping_3d_submaps
mapping_sparse_pose_graph
mapping_sparse_pose_graph_proto_optimization_problem_options mapping_sparse_pose_graph_proto_optimization_problem_options
transform_transform transform_transform
) )

2
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
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@ -24,9 +24,9 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping/sparse_pose_graph.h"
#include "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.h" #include "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.h"
#include "cartographer/mapping_3d/imu_integration.h" #include "cartographer/mapping_3d/imu_integration.h"
#include "cartographer/mapping_3d/submaps.h" #include "cartographer/mapping_3d/submaps.h"

2
cartographer/mapping_3d/submaps.h
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@ -23,7 +23,7 @@
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/mapping/sparse_pose_graph.h" #include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping_2d/laser_fan_inserter.h" #include "cartographer/mapping_2d/laser_fan_inserter.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping_2d/probability_grid.h"

20
cartographer/proto/CMakeLists.txt
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@ -1,20 +0,0 @@
# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
google_proto_library(proto_trajectory
SRCS
trajectory.proto
DEPENDS
transform_proto_transform
)

2
cartographer/transform/CMakeLists.txt
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@ -58,7 +58,7 @@ google_library(transform_transform_interpolation_buffer
DEPENDS DEPENDS
common_make_unique common_make_unique
common_time common_time
proto_trajectory mapping_proto_trajectory
transform_rigid_transform transform_rigid_transform
transform_transform transform_transform
) )

6
cartographer/transform/transform_interpolation_buffer.cc
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@ -21,8 +21,6 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/time.h"
#include "cartographer/proto/trajectory.pb.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -87,10 +85,10 @@ bool TransformInterpolationBuffer::empty() const { return deque_.empty(); }
std::unique_ptr<TransformInterpolationBuffer> std::unique_ptr<TransformInterpolationBuffer>
TransformInterpolationBuffer::FromTrajectory( TransformInterpolationBuffer::FromTrajectory(
const cartographer::proto::Trajectory& trajectory) { const mapping::proto::Trajectory& trajectory) {
auto interpolation_buffer = auto interpolation_buffer =
common::make_unique<TransformInterpolationBuffer>(); common::make_unique<TransformInterpolationBuffer>();
for (const cartographer::proto::Trajectory::Node& node : trajectory.node()) { for (const mapping::proto::Trajectory::Node& node : trajectory.node()) {
interpolation_buffer->Push(common::FromUniversal(node.timestamp()), interpolation_buffer->Push(common::FromUniversal(node.timestamp()),
transform::ToRigid3(node.pose())); transform::ToRigid3(node.pose()));
} }

4
cartographer/transform/transform_interpolation_buffer.h
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@ -21,7 +21,7 @@
#include <memory> #include <memory>
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/proto/trajectory.pb.h" #include "cartographer/mapping/proto/trajectory.pb.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
namespace cartographer { namespace cartographer {
@ -31,7 +31,7 @@ namespace transform {
class TransformInterpolationBuffer { class TransformInterpolationBuffer {
public: public:
static std::unique_ptr<TransformInterpolationBuffer> FromTrajectory( static std::unique_ptr<TransformInterpolationBuffer> FromTrajectory(
const cartographer::proto::Trajectory& trajectory); const mapping::proto::Trajectory& trajectory);
// Adds a new transform to the buffer and removes the oldest transform if the // Adds a new transform to the buffer and removes the oldest transform if the
// buffer size limit is exceeded. // buffer size limit is exceeded.