12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Rename kNumberOfValues to kValueCount (#1535) 

Done as it reads a bit better.
master
damienrg 2019-03-08 12:28:48 +01:00 committed by Wally B. Feed
parent cbc0a2ac9a
commit 856e9c924a
1 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
cartographer/mapping/probability_values.cc
View File

@ -23,16 +23,16 @@ namespace mapping {
namespace {
constexpr int kNumberOfValues = 32768;
constexpr int kValueCount = 32768;
// 0 is unknown, [1, 32767] maps to [lower_bound, upper_bound].
float SlowValueToBoundedFloat(const uint16 value, const uint16 unknown_value,
const float unknown_result,
const float lower_bound,
const float upper_bound) {
CHECK_LT(value, kNumberOfValues);
CHECK_LT(value, kValueCount);
if (value == unknown_value) return unknown_result;
const float kScale = (upper_bound - lower_bound) / (kNumberOfValues - 2.f);
const float kScale = (upper_bound - lower_bound) / (kValueCount - 2.f);
return value * kScale + (lower_bound - kScale);
}
@ -43,9 +43,9 @@ std::unique_ptr<std::vector<float>> PrecomputeValueToBoundedFloat(
// Repeat two times, so that both values with and without the update marker
// can be converted to a probability.
constexpr int kRepetitionCount = 2;
result->reserve(kRepetitionCount * kNumberOfValues);
result->reserve(kRepetitionCount * kValueCount);
for (int repeat = 0; repeat != kRepetitionCount; ++repeat) {
for (int value = 0; value != kNumberOfValues; ++value) {
for (int value = 0; value != kValueCount; ++value) {
result->push_back(SlowValueToBoundedFloat(
value, unknown_value, unknown_result, lower_bound, upper_bound));
}
@ -75,10 +75,10 @@ const std::vector<float>* const kValueToCorrespondenceCost =
std::vector<uint16> ComputeLookupTableToApplyOdds(const float odds) {
std::vector<uint16> result;
result.reserve(kNumberOfValues);
result.reserve(kValueCount);
result.push_back(ProbabilityToValue(ProbabilityFromOdds(odds)) +
kUpdateMarker);
for (int cell = 1; cell != kNumberOfValues; ++cell) {
for (int cell = 1; cell != kValueCount; ++cell) {
result.push_back(ProbabilityToValue(ProbabilityFromOdds(
odds * Odds((*kValueToProbability)[cell]))) +
kUpdateMarker);
@ -89,11 +89,11 @@ std::vector<uint16> ComputeLookupTableToApplyOdds(const float odds) {
std::vector<uint16> ComputeLookupTableToApplyCorrespondenceCostOdds(
float odds) {
std::vector<uint16> result;
result.reserve(kNumberOfValues);
result.reserve(kValueCount);
result.push_back(CorrespondenceCostToValue(ProbabilityToCorrespondenceCost(
ProbabilityFromOdds(odds))) +
kUpdateMarker);
for (int cell = 1; cell != kNumberOfValues; ++cell) {
for (int cell = 1; cell != kValueCount; ++cell) {
result.push_back(
CorrespondenceCostToValue(
ProbabilityToCorrespondenceCost(ProbabilityFromOdds(