From 8b2c755a1337bfc2ecfb3aa8c3a784cf5c0824e4 Mon Sep 17 00:00:00 2001 From: Arno Fleck <38908098+CodeArno@users.noreply.github.com> Date: Sat, 7 Jul 2018 00:20:20 +0200 Subject: [PATCH] Remove "_internal" from the metric family names. (#1237) As discussed and requested in #1218, this PR removes the substring "_internal" from all the metric family names. --- .../internal/2d/local_trajectory_builder_2d.cc | 12 ++++++------ .../internal/3d/local_trajectory_builder_3d.cc | 12 ++++++------ .../internal/constraints/constraint_builder_2d.cc | 7 +++---- .../internal/constraints/constraint_builder_3d.cc | 7 +++---- .../mapping/internal/global_trajectory_builder.cc | 2 +- 5 files changed, 19 insertions(+), 21 deletions(-) diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc index 90d884d..feda1fa 100644 --- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc +++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc @@ -317,24 +317,24 @@ void LocalTrajectoryBuilder2D::InitializeExtrapolator(const common::Time time) { void LocalTrajectoryBuilder2D::RegisterMetrics( metrics::FamilyFactory* family_factory) { auto* latency = family_factory->NewGaugeFamily( - "mapping_internal_2d_local_trajectory_builder_latency", + "mapping_2d_local_trajectory_builder_latency", "Duration from first incoming point cloud in accumulation to local slam " "result"); kLocalSlamLatencyMetric = latency->Add({}); auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto* scores = family_factory->NewHistogramFamily( - "mapping_internal_2d_local_trajectory_builder_scores", - "Local scan matcher scores", score_boundaries); + "mapping_2d_local_trajectory_builder_scores", "Local scan matcher scores", + score_boundaries); kFastCorrelativeScanMatcherScoreMetric = scores->Add({{"scan_matcher", "fast_correlative"}}); auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100); auto* costs = family_factory->NewHistogramFamily( - "mapping_internal_2d_local_trajectory_builder_costs", - "Local scan matcher costs", cost_boundaries); + "mapping_2d_local_trajectory_builder_costs", "Local scan matcher costs", + cost_boundaries); kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}}); auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10); auto* residuals = family_factory->NewHistogramFamily( - "mapping_internal_2d_local_trajectory_builder_residuals", + "mapping_2d_local_trajectory_builder_residuals", "Local scan matcher residuals", distance_boundaries); kScanMatcherResidualDistanceMetric = residuals->Add({{"component", "distance"}}); diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc index 7612e16..7b54b15 100644 --- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc +++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc @@ -301,24 +301,24 @@ LocalTrajectoryBuilder3D::InsertIntoSubmap( void LocalTrajectoryBuilder3D::RegisterMetrics( metrics::FamilyFactory* family_factory) { auto* latency = family_factory->NewGaugeFamily( - "mapping_internal_3d_local_trajectory_builder_latency", + "mapping_3d_local_trajectory_builder_latency", "Duration from first incoming point cloud in accumulation to local slam " "result"); kLocalSlamLatencyMetric = latency->Add({}); auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto* scores = family_factory->NewHistogramFamily( - "mapping_internal_3d_local_trajectory_builder_scores", - "Local scan matcher scores", score_boundaries); + "mapping_3d_local_trajectory_builder_scores", "Local scan matcher scores", + score_boundaries); kRealTimeCorrelativeScanMatcherScoreMetric = scores->Add({{"scan_matcher", "real_time_correlative"}}); auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100); auto* costs = family_factory->NewHistogramFamily( - "mapping_internal_3d_local_trajectory_builder_costs", - "Local scan matcher costs", cost_boundaries); + "mapping_3d_local_trajectory_builder_costs", "Local scan matcher costs", + cost_boundaries); kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}}); auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10); auto* residuals = family_factory->NewHistogramFamily( - "mapping_internal_3d_local_trajectory_builder_residuals", + "mapping_3d_local_trajectory_builder_residuals", "Local scan matcher residuals", distance_boundaries); kScanMatcherResidualDistanceMetric = residuals->Add({{"component", "distance"}}); diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc index c621385..8b36fea 100644 --- a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc +++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc @@ -306,7 +306,7 @@ void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) { void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) { auto* counts = factory->NewCounterFamily( - "mapping_internal_constraints_constraint_builder_2d_constraints", + "mapping_constraints_constraint_builder_2d_constraints", "Constraints computed"); kConstraintsSearchedMetric = counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); @@ -317,12 +317,11 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) { kGlobalConstraintsFoundMetric = counts->Add({{"search_region", "global"}, {"matcher", "found"}}); auto* queue_length = factory->NewGaugeFamily( - "mapping_internal_constraints_constraint_builder_2d_queue_length", - "Queue length"); + "mapping_constraints_constraint_builder_2d_queue_length", "Queue length"); kQueueLengthMetric = queue_length->Add({}); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto* scores = factory->NewHistogramFamily( - "mapping_internal_constraints_constraint_builder_2d_scores", + "mapping_constraints_constraint_builder_2d_scores", "Constraint scores built", boundaries); kConstraintScoresMetric = scores->Add({{"search_region", "local"}}); kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}}); diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc index 8510631..8bf40f2 100644 --- a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc +++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc @@ -341,7 +341,7 @@ void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) { void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) { auto* counts = factory->NewCounterFamily( - "mapping_internal_constraints_constraint_builder_3d_constraints", + "mapping_constraints_constraint_builder_3d_constraints", "Constraints computed"); kConstraintsSearchedMetric = counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); @@ -352,12 +352,11 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) { kGlobalConstraintsFoundMetric = counts->Add({{"search_region", "global"}, {"matcher", "found"}}); auto* queue_length = factory->NewGaugeFamily( - "mapping_internal_constraints_constraint_builder_3d_queue_length", - "Queue length"); + "mapping_constraints_constraint_builder_3d_queue_length", "Queue length"); kQueueLengthMetric = queue_length->Add({}); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto* scores = factory->NewHistogramFamily( - "mapping_internal_constraints_constraint_builder_3d_scores", + "mapping_constraints_constraint_builder_3d_scores", "Constraint scores built", boundaries); kConstraintScoresMetric = scores->Add({{"search_region", "local"}, {"kind", "score"}}); diff --git a/cartographer/mapping/internal/global_trajectory_builder.cc b/cartographer/mapping/internal/global_trajectory_builder.cc index 5c6afbd..03f946b 100644 --- a/cartographer/mapping/internal/global_trajectory_builder.cc +++ b/cartographer/mapping/internal/global_trajectory_builder.cc @@ -155,7 +155,7 @@ std::unique_ptr CreateGlobalTrajectoryBuilder3D( void GlobalTrajectoryBuilderRegisterMetrics(metrics::FamilyFactory* factory) { auto* results = factory->NewCounterFamily( - "mapping_internal_global_trajectory_builder_local_slam_results", + "mapping_global_trajectory_builder_local_slam_results", "Local SLAM results"); kLocalSlamMatchingResults = results->Add({{"type", "MatchingResult"}}); kLocalSlamInsertionResults = results->Add({{"type", "InsertionResult"}});