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Pulls sensor ID out of sensor::Data. (#77)

master
Damon Kohler 2016-10-18 17:37:40 +02:00 committed by Wolfgang Hess
parent 8705d462fb
commit a7663f6c15
4 changed files with 49 additions and 51 deletions
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7
cartographer/sensor/collator.h
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@ -37,7 +37,7 @@ namespace sensor {
class Collator {
public:
using Callback = std::function<void(std::unique_ptr<Data>)>;
using Callback = std::function<void(const string&, std::unique_ptr<Data>)>;
Collator() {}
@ -51,8 +51,9 @@ class Collator {
const Callback callback) {
for (const auto& sensor_id : expected_sensor_ids) {
const auto queue_key = QueueKey{trajectory_id, sensor_id};
queue_.AddQueue(queue_key, [callback](std::unique_ptr<Data> data) {
callback(std::move(data));
queue_.AddQueue(queue_key,
[callback, sensor_id](std::unique_ptr<Data> data) {
callback(sensor_id, std::move(data));
});
queue_keys_[trajectory_id].push_back(queue_key);
}

67
cartographer/sensor/collator_test.cc
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@ -29,46 +29,53 @@ namespace sensor {
namespace {
TEST(Collator, Ordering) {
Data first(common::FromUniversal(100), "horizontal_laser", sensor::LaserFan{});
Data second(common::FromUniversal(200),"vertical_laser", sensor::LaserFan{});
Data third(common::FromUniversal(300),"imu", Data::Imu{});
Data fourth(common::FromUniversal(400),"horizontal_laser", sensor::LaserFan{});
Data fifth(common::FromUniversal(500),"vertical_laser", sensor::LaserFan{});
Data sixth(common::FromUniversal(600),"odometry", Data::Odometry{});
const std::array<string, 4> kSensorId = {"horizontal_laser", "vertical_laser",
"imu", "odometry"};
Data first(common::FromUniversal(100), sensor::LaserFan{});
Data second(common::FromUniversal(200), sensor::LaserFan{});
Data third(common::FromUniversal(300), Data::Imu{});
Data fourth(common::FromUniversal(400), sensor::LaserFan{});
Data fifth(common::FromUniversal(500), sensor::LaserFan{});
Data sixth(common::FromUniversal(600), Data::Odometry{});
const std::unordered_set<string> frame_ids = {
"horizontal_laser", "vertical_laser", "imu", "odometry"};
std::vector<Data> received;
std::vector<std::pair<string, Data>> received;
Collator collator;
collator.AddTrajectory(
0, frame_ids,
[&received](std::unique_ptr<Data> data) {
received.push_back(*data);
0, std::unordered_set<string>(kSensorId.begin(), kSensorId.end()),
[&received](const string& sensor_id, std::unique_ptr<Data> data) {
received.push_back(std::make_pair(sensor_id, *data));
});
collator.AddSensorData(0, first.frame_id, common::make_unique<Data>(first));
collator.AddSensorData(0, sixth.frame_id, common::make_unique<Data>(sixth));
collator.AddSensorData(0, fourth.frame_id, common::make_unique<Data>(fourth));
collator.AddSensorData(0, second.frame_id, common::make_unique<Data>(second));
collator.AddSensorData(0, fifth.frame_id, common::make_unique<Data>(fifth));
collator.AddSensorData(0, third.frame_id, common::make_unique<Data>(third));
constexpr int kTrajectoryId = 0;
collator.AddSensorData(kTrajectoryId, kSensorId[0],
common::make_unique<Data>(first));
collator.AddSensorData(kTrajectoryId, kSensorId[3],
common::make_unique<Data>(sixth));
collator.AddSensorData(kTrajectoryId, kSensorId[0],
common::make_unique<Data>(fourth));
collator.AddSensorData(kTrajectoryId, kSensorId[1],
common::make_unique<Data>(second));
collator.AddSensorData(kTrajectoryId, kSensorId[1],
common::make_unique<Data>(fifth));
collator.AddSensorData(kTrajectoryId, kSensorId[2],
common::make_unique<Data>(third));
EXPECT_EQ(3, received.size());
EXPECT_EQ(100, common::ToUniversal(received[0].time));
EXPECT_EQ("horizontal_laser", received[0].frame_id);
EXPECT_EQ(200, common::ToUniversal(received[1].time));
EXPECT_EQ("vertical_laser", received[1].frame_id);
EXPECT_EQ(300, common::ToUniversal(received[2].time));
EXPECT_EQ("imu", received[2].frame_id);
ASSERT_EQ(3, received.size());
EXPECT_EQ(100, common::ToUniversal(received[0].second.time));
EXPECT_EQ(kSensorId[0], received[0].first);
EXPECT_EQ(200, common::ToUniversal(received[1].second.time));
EXPECT_EQ(kSensorId[1], received[1].first);
EXPECT_EQ(300, common::ToUniversal(received[2].second.time));
EXPECT_EQ(kSensorId[2], received[2].first);
collator.Flush();
ASSERT_EQ(6, received.size());
EXPECT_EQ("horizontal_laser", received[3].frame_id);
EXPECT_EQ(500, common::ToUniversal(received[4].time));
EXPECT_EQ("vertical_laser", received[4].frame_id);
EXPECT_EQ(600, common::ToUniversal(received[5].time));
EXPECT_EQ("odometry", received[5].frame_id);
EXPECT_EQ(kSensorId[0], received[3].first);
EXPECT_EQ(500, common::ToUniversal(received[4].second.time));
EXPECT_EQ(kSensorId[1], received[4].first);
EXPECT_EQ(600, common::ToUniversal(received[5].second.time));
EXPECT_EQ(kSensorId[3], received[5].first);
}
} // namespace

22
cartographer/sensor/data.h
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@ -17,8 +17,6 @@
#ifndef CARTOGRAPHER_MAPPING_DATA_H_
#define CARTOGRAPHER_MAPPING_DATA_H_
#include <string>
#include "cartographer/common/time.h"
#include "cartographer/kalman_filter/pose_tracker.h"
#include "cartographer/sensor/laser.h"
@ -43,26 +41,18 @@ struct Data {
Eigen::Vector3d angular_velocity;
};
Data(const common::Time time, const string& frame_id, const Imu& imu)
: type(Type::kImu), time(time), frame_id(frame_id), imu(imu) {}
Data(const common::Time time, const Imu& imu)
: type(Type::kImu), time(time), imu(imu) {}
Data(const common::Time time, const string& frame_id,
Data(const common::Time time,
const ::cartographer::sensor::LaserFan& laser_fan)
: type(Type::kLaserFan),
time(time),
frame_id(frame_id),
laser_fan(laser_fan) {}
: type(Type::kLaserFan), time(time), laser_fan(laser_fan) {}
Data(const common::Time time, const string& frame_id,
const Odometry& odometry)
: type(Type::kOdometry),
time(time),
frame_id(frame_id),
odometry(odometry) {}
Data(const common::Time time, const Odometry& odometry)
: type(Type::kOdometry), time(time), odometry(odometry) {}
Type type;
common::Time time;
string frame_id;
Imu imu;
sensor::LaserFan laser_fan;
Odometry odometry;

2
cartographer/sensor/ordered_multi_queue_test.cc
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@ -44,7 +44,7 @@ class OrderedMultiQueueTest : public ::testing::Test {
std::unique_ptr<Data> MakeImu(const int ordinal) {
return common::make_unique<Data>(
common::FromUniversal(ordinal), "unused_frame_id",
common::FromUniversal(ordinal),
Data::Imu{Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero()});
}