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Rename Landmark->LandmarkObservation. (#847)

master
Alexander Belyaev 2018-01-25 12:10:30 +01:00 committed by GitHub
parent 37ddf9e550
commit 894bad397d
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4 changed files with 24 additions and 23 deletions
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16
cartographer/sensor/landmark_data.cc
View File

@ -24,13 +24,13 @@ namespace sensor {
proto::LandmarkData ToProto(const LandmarkData& landmark_data) {
proto::LandmarkData proto;
proto.set_timestamp(common::ToUniversal(landmark_data.time));
for (const Landmark& landmark : landmark_data.landmarks) {
auto* item = proto.add_landmarks();
item->set_id(landmark.id);
for (const auto& observation : landmark_data.landmark_observations) {
auto* item = proto.add_landmark_observations();
item->set_id(observation.id);
*item->mutable_landmark_to_tracking_transform() =
transform::ToProto(landmark.landmark_to_tracking_transform);
item->set_translation_weight(landmark.translation_weight);
item->set_rotation_weight(landmark.rotation_weight);
transform::ToProto(observation.landmark_to_tracking_transform);
item->set_translation_weight(observation.translation_weight);
item->set_rotation_weight(observation.rotation_weight);
}
return proto;
}
@ -38,8 +38,8 @@ proto::LandmarkData ToProto(const LandmarkData& landmark_data) {
LandmarkData FromProto(const proto::LandmarkData& proto) {
LandmarkData landmark_data;
landmark_data.time = common::FromUniversal(proto.timestamp());
for (const auto& item : proto.landmarks()) {
landmark_data.landmarks.push_back({
for (const auto& item : proto.landmark_observations()) {
landmark_data.landmark_observations.push_back({
item.id(),
transform::ToRigid3(item.landmark_to_tracking_transform()),
item.translation_weight(),

4
cartographer/sensor/landmark_data.h
View File

@ -29,7 +29,7 @@
namespace cartographer {
namespace sensor {
struct Landmark {
struct LandmarkObservation {
std::string id;
transform::Rigid3d landmark_to_tracking_transform;
double translation_weight;
@ -38,7 +38,7 @@ struct Landmark {
struct LandmarkData {
common::Time time;
std::vector<Landmark> landmarks;
std::vector<LandmarkObservation> landmark_observations;
};
// Converts 'landmark_data' to a proto::LandmarkData.

23
cartographer/sensor/landmark_data_test.cc
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@ -30,21 +30,22 @@ namespace {
using ::testing::DoubleNear;
using ::testing::Field;
::testing::Matcher<const Landmark&> EqualsLandmark(const Landmark& expected) {
::testing::Matcher<const LandmarkObservation&> EqualsLandmark(
const LandmarkObservation& expected) {
return ::testing::AllOf(
Field(&Landmark::id, expected.id),
Field(&Landmark::landmark_to_tracking_transform,
Field(&LandmarkObservation::id, expected.id),
Field(&LandmarkObservation::landmark_to_tracking_transform,
transform::IsNearly(expected.landmark_to_tracking_transform, 1e-2)),
Field(&Landmark::translation_weight,
Field(&LandmarkObservation::translation_weight,
DoubleNear(expected.translation_weight, 0.01)),
Field(&Landmark::rotation_weight,
Field(&LandmarkObservation::rotation_weight,
DoubleNear(expected.rotation_weight, 0.01)));
}
class LandmarkDataTest : public ::testing::Test {
protected:
LandmarkDataTest()
: landmarks_(
: observations_(
{{
"ID1",
transform::Rigid3d(Eigen::Vector3d(1., 1., 1.),
@ -59,16 +60,16 @@ class LandmarkDataTest : public ::testing::Test {
2.f,
4.f,
}}) {}
std::vector<Landmark> landmarks_;
std::vector<LandmarkObservation> observations_;
};
TEST_F(LandmarkDataTest, LandmarkDataToAndFromProto) {
const auto expected = LandmarkData{common::FromUniversal(50), landmarks_};
const auto expected = LandmarkData{common::FromUniversal(50), observations_};
const auto actual = FromProto(ToProto(expected));
EXPECT_EQ(expected.time, actual.time);
EXPECT_THAT(actual.landmarks,
ElementsAre(EqualsLandmark(expected.landmarks[0]),
EqualsLandmark(expected.landmarks[1])));
EXPECT_THAT(actual.landmark_observations,
ElementsAre(EqualsLandmark(expected.landmark_observations[0]),
EqualsLandmark(expected.landmark_observations[1])));
}
} // namespace

4
cartographer/sensor/proto/sensor.proto
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@ -61,12 +61,12 @@ message FixedFramePoseData {
// Proto representation of ::cartographer::sensor::LandmarkData.
message LandmarkData {
message Landmark {
message LandmarkObservation {
bytes id = 1;
transform.proto.Rigid3d landmark_to_tracking_transform = 2;
double translation_weight = 3;
double rotation_weight = 4;
}
int64 timestamp = 1;
repeated Landmark landmarks = 2;
repeated LandmarkObservation landmark_observations = 2;
}