Clean up. (#266)

Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.

CMakeLists.txt

@@ -84,7 +84,15 @@ set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENER
 list(APPEND ALL_SRCS ${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS})
 
 add_library(${PROJECT_NAME} ${ALL_SRCS})
-add_subdirectory("cartographer")
+
+configure_file(
+  ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
+  ${PROJECT_BINARY_DIR}/cartographer/common/config.h)
+
+google_binary(cartographer_compute_relations_metrics
+  SRCS
+    cartographer/ground_truth/compute_relations_metrics_main.cc
+)
 
 foreach(ABS_FIL ${ALL_TESTS})
   file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})

cartographer/CMakeLists.txt

@@ -1,16 +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.
-
-add_subdirectory("common")
-add_subdirectory("ground_truth")

cartographer/common/CMakeLists.txt

@@ -1,17 +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.
-
-configure_file (
-  ${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
-  ${CMAKE_CURRENT_BINARY_DIR}/config.h)

cartographer/common/configuration_files_test.cc

@@ -58,5 +58,6 @@ TEST(ConfigurationFilesTest, ValidateTrajectoryBuilderOptions) {
         &lua_parameter_dictionary);
   });
 }
+
 }  // namespace
 }  // namespace cartographer_ros

cartographer/common/interval.h

@@ -1,32 +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.
- */
-
-#ifndef CARTOGRAPHER_COMMON_INTERVAL_H_
-#define CARTOGRAPHER_COMMON_INTERVAL_H_
-
-namespace cartographer {
-namespace common {
-
-template <typename T>
-struct Interval {
-  T start;
-  T end;
-};
-
-}  // namespace common
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_COMMON_INTERVAL_H_

cartographer/ground_truth/CMakeLists.txt

@@ -1,18 +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_binary(cartographer_compute_relations_metrics
-  SRCS
-    compute_relations_metrics_main.cc
-)

cartographer/io/xray_points_processor.cc

@@ -120,11 +120,10 @@ void WritePng(const PixelDataMatrix& mat, FileWriter* const file_writer) {
   CHECK(file_writer->Close());
 }
 
-bool ContainedIn(
+bool ContainedIn(const common::Time& time,
-    const common::Time& time,
+                 const std::vector<mapping::Timespan>& timespans) {
-    const std::vector<common::Interval<common::Time>>& time_intervals) {
+  for (const mapping::Timespan& timespan : timespans) {
-  for (const auto& interval : time_intervals) {
+    if (timespan.start <= time && time <= timespan.end) {
-    if (interval.start <= time && time <= interval.end) {
       return true;
     }
   }

cartographer/mapping/detect_floors.cc

@@ -39,14 +39,15 @@ constexpr double kMaxShortSpanLengthMeters = 25.;
 constexpr double kLevelHeightMeters = 2.5;
 constexpr double kMinLevelSeparationMeters = 1.0;
 
-// Indices into 'trajectory.node', so that index.start <= i < index.end.
+// Indices into 'trajectory.node', so that 'start_index' <= i < 'end_index'.
 struct Span {
-  common::Interval<int> index;
+  int start_index;
+  int end_index;
   std::vector<double> z_values;
 
   bool operator<(const Span& other) const {
-    return std::forward_as_tuple(index.start, index.end) <
+    return std::forward_as_tuple(start_index, end_index) <
-           std::forward_as_tuple(other.index.start, other.index.end);
+           std::forward_as_tuple(other.start_index, other.end_index);
   }
 };
 
@@ -81,15 +82,15 @@ std::vector<Span> SliceByAltitudeChange(const proto::Trajectory& trajectory) {
   CHECK_GT(trajectory.node_size(), 0);
 
   std::vector<Span> spans;
-  spans.push_back(Span{{0, 0}, {trajectory.node(0).pose().translation().z()}});
+  spans.push_back(Span{0, 0, {trajectory.node(0).pose().translation().z()}});
   for (int i = 1; i < trajectory.node_size(); ++i) {
     const auto& node = trajectory.node(i);
     const double z = node.pose().translation().z();
     if (std::abs(Median(spans.back().z_values) - z) > kLevelHeightMeters) {
-      spans.push_back(Span{{i, i}, {}});
+      spans.push_back(Span{i, i, {}});
     }
     InsertSorted(z, &spans.back().z_values);
-    spans.back().index.end = i + 1;
+    spans.back().end_index = i + 1;
   }
   return spans;
 }
@@ -97,7 +98,7 @@ std::vector<Span> SliceByAltitudeChange(const proto::Trajectory& trajectory) {
 // Returns the length of 'span' in meters.
 double SpanLength(const proto::Trajectory& trajectory, const Span& span) {
   double length = 0;
-  for (int i = span.index.start + 1; i < span.index.end; ++i) {
+  for (int i = span.start_index + 1; i < span.end_index; ++i) {
     const auto a =
         transform::ToEigen(trajectory.node(i - 1).pose().translation());
     const auto b = transform::ToEigen(trajectory.node(i).pose().translation());
@@ -182,10 +183,10 @@ std::vector<Floor> FindFloors(const proto::Trajectory& trajectory,
         z_values.insert(z_values.end(), span.z_values.begin(),
                         span.z_values.end());
       }
-      floors.back().timespans.push_back(common::Interval<common::Time>{
+      floors.back().timespans.push_back(Timespan{
-          common::FromUniversal(trajectory.node(span.index.start).timestamp()),
+          common::FromUniversal(trajectory.node(span.start_index).timestamp()),
           common::FromUniversal(
-              trajectory.node(span.index.end - 1).timestamp())});
+              trajectory.node(span.end_index - 1).timestamp())});
     }
     std::sort(z_values.begin(), z_values.end());
     floors.back().z = Median(z_values);

cartographer/mapping/detect_floors.h

@@ -19,17 +19,21 @@
 
 #include "cartographer/mapping/proto/trajectory.pb.h"
 
-#include "cartographer/common/interval.h"
 #include "cartographer/common/time.h"
 
 namespace cartographer {
 namespace mapping {
 
+struct Timespan {
+  common::Time start;
+  common::Time end;
+};
+
 struct Floor {
   // The spans of time we spent on this floor. Since we might have walked up and
   // down many times in this place, there can be many spans of time we spent on
   // a particular floor.
-  std::vector<common::Interval<common::Time>> timespans;
+  std::vector<Timespan> timespans;
 
   // The median z-value of this floor.
   double z;

cartographer/mapping/map_builder.cc

@@ -26,7 +26,6 @@
 #include "cartographer/mapping/collated_trajectory_builder.h"
 #include "cartographer/mapping_2d/global_trajectory_builder.h"
 #include "cartographer/mapping_3d/global_trajectory_builder.h"
-#include "cartographer/mapping_3d/local_trajectory_builder_options.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/sensor/voxel_filter.h"
 #include "cartographer/transform/rigid_transform.h"
@@ -52,18 +51,6 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
   return options;
 }
 
-proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
-    common::LuaParameterDictionary* const parameter_dictionary) {
-  proto::TrajectoryBuilderOptions options;
-  *options.mutable_trajectory_builder_2d_options() =
-      mapping_2d::CreateLocalTrajectoryBuilderOptions(
-          parameter_dictionary->GetDictionary("trajectory_builder_2d").get());
-  *options.mutable_trajectory_builder_3d_options() =
-      mapping_3d::CreateLocalTrajectoryBuilderOptions(
-          parameter_dictionary->GetDictionary("trajectory_builder_3d").get());
-  return options;
-}
-
 MapBuilder::MapBuilder(
     const proto::MapBuilderOptions& options,
     std::deque<TrajectoryNode::ConstantData>* const constant_data)

cartographer/mapping/map_builder.h

@@ -44,8 +44,6 @@ namespace mapping {
 
 proto::MapBuilderOptions CreateMapBuilderOptions(
     common::LuaParameterDictionary* const parameter_dictionary);
-proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
-    common::LuaParameterDictionary* const parameter_dictionary);
 
 // Wires up the complete SLAM stack with TrajectoryBuilders (for local submaps)
 // and a SparsePoseGraph for loop closure.

cartographer/mapping/trajectory_builder.cc

@@ -0,0 +1,38 @@
+/*
+ * 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.
+ */
+
+#include "cartographer/mapping/trajectory_builder.h"
+
+#include "cartographer/mapping_2d/local_trajectory_builder.h"
+#include "cartographer/mapping_3d/local_trajectory_builder_options.h"
+
+namespace cartographer {
+namespace mapping {
+
+proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
+    common::LuaParameterDictionary* const parameter_dictionary) {
+  proto::TrajectoryBuilderOptions options;
+  *options.mutable_trajectory_builder_2d_options() =
+      mapping_2d::CreateLocalTrajectoryBuilderOptions(
+          parameter_dictionary->GetDictionary("trajectory_builder_2d").get());
+  *options.mutable_trajectory_builder_3d_options() =
+      mapping_3d::CreateLocalTrajectoryBuilderOptions(
+          parameter_dictionary->GetDictionary("trajectory_builder_3d").get());
+  return options;
+}
+
+}  // namespace mapping
+}  // namespace cartographer

cartographer/mapping/trajectory_builder.h

@@ -21,9 +21,11 @@
 #include <memory>
 #include <string>
 
+#include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
+#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/sensor/point_cloud.h"
@@ -32,6 +34,9 @@
 namespace cartographer {
 namespace mapping {
 
+proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
+    common::LuaParameterDictionary* const parameter_dictionary);
+
 // This interface is used for both 2D and 3D SLAM.
 class TrajectoryBuilder {
  public: