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Address the comments for the overlapping submaps trimmer. (#1060)

master
Alexander Belyaev 2018-04-12 14:28:33 +02:00 committed by GitHub
parent f83d0a6ed6
commit a4346337bc
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 5 additions and 7 deletions
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10
cartographer/mapping/internal/2d/overlapping_submaps_trimmer_2d.cc
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@ -140,7 +140,7 @@ std::vector<SubmapId> FindSubmapIdsToTrim(
const SubmapCoverageGrid2D& coverage_grid, const SubmapCoverageGrid2D& coverage_grid,
const std::set<SubmapId>& all_submap_ids, uint16 fresh_submaps_count, const std::set<SubmapId>& all_submap_ids, uint16 fresh_submaps_count,
uint16 min_covered_cells_count) { uint16 min_covered_cells_count) {
std::map<SubmapId, uint16> cells_covered_by_submap; std::map<SubmapId, uint16> submap_to_covered_cells_count;
for (const auto& cell : coverage_grid.cells()) { for (const auto& cell : coverage_grid.cells()) {
std::vector<std::pair<SubmapId, common::Time>> submaps_per_cell( std::vector<std::pair<SubmapId, common::Time>> submaps_per_cell(
cell.second); cell.second);
@ -158,21 +158,20 @@ std::vector<SubmapId> FindSubmapIdsToTrim(
submaps_per_cell.end()); submaps_per_cell.end());
} }
for (const std::pair<SubmapId, common::Time>& submap : submaps_per_cell) { for (const std::pair<SubmapId, common::Time>& submap : submaps_per_cell) {
++cells_covered_by_submap[submap.first]; ++submap_to_covered_cells_count[submap.first];
} }
} }
std::vector<SubmapId> submap_ids_to_keep; std::vector<SubmapId> submap_ids_to_keep;
for (const auto& id_to_cells_count : cells_covered_by_submap) { for (const auto& id_to_cells_count : submap_to_covered_cells_count) {
if (id_to_cells_count.second < min_covered_cells_count) continue; if (id_to_cells_count.second < min_covered_cells_count) continue;
submap_ids_to_keep.push_back(id_to_cells_count.first); submap_ids_to_keep.push_back(id_to_cells_count.first);
} }
DCHECK(std::is_sorted(submap_ids_to_keep.begin(), submap_ids_to_keep.end())); DCHECK(std::is_sorted(submap_ids_to_keep.begin(), submap_ids_to_keep.end()));
std::vector<SubmapId> result; std::vector<SubmapId> result;
std::set_difference(all_submap_ids.begin(), all_submap_ids.end(), std::set_difference(all_submap_ids.begin(), all_submap_ids.end(),
submap_ids_to_keep.begin(), submap_ids_to_keep.end(), submap_ids_to_keep.begin(), submap_ids_to_keep.end(),
std::inserter(result, result.begin())); std::back_inserter(result));
return result; return result;
} }
@ -196,7 +195,6 @@ void OverlappingSubmapsTrimmer2D::Trim(Trimmable* pose_graph) {
for (const SubmapId& id : submap_ids_to_remove) { for (const SubmapId& id : submap_ids_to_remove) {
pose_graph->MarkSubmapAsTrimmed(id); pose_graph->MarkSubmapAsTrimmed(id);
} }
finished_ = true;
} }
} // namespace mapping } // namespace mapping

2
cartographer/mapping/internal/2d/overlapping_submaps_trimmer_2d_test.cc
View File

@ -164,7 +164,7 @@ TEST_F(OverlappingSubmapsTrimmer2DTest, UseOnlyIntraSubmapsToComputeFreshness) {
// //
// The background submap should be trimmed, since it has only 3 cells // The background submap should be trimmed, since it has only 3 cells
// not-covered by another submap. // not-covered by another submap.
TEST_F(OverlappingSubmapsTrimmer2DTest, ) { TEST_F(OverlappingSubmapsTrimmer2DTest, TrimSubmapWithLowCoveredCellsCount) {
AddSquareSubmap(Rigid2d::Identity(), 0 /* submap_index */, 2 /* num_cells */, AddSquareSubmap(Rigid2d::Identity(), 0 /* submap_index */, 2 /* num_cells */,
true /* is_finished */); true /* is_finished */);
AddSquareSubmap(Rigid2d::Translation(Eigen::Vector2d(1., 1.)), AddSquareSubmap(Rigid2d::Translation(Eigen::Vector2d(1., 1.)),