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Rename serialization NodeData proto for consistency. (#540) 

node_data should be a member of a node, not the other way around.
master
Juraj Oršulić 2017-10-04 14:13:18 +02:00 committed by Wolfgang Hess
parent b1b0750e5b
commit aaaf5ac546
6 changed files with 24 additions and 22 deletions
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18
cartographer/mapping/map_builder.cc
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@ -170,19 +170,21 @@ void MapBuilder::SerializeState(io::ProtoStreamWriter* const writer) {
} }
// Next we serialize all node data. // Next we serialize all node data.
{ {
const auto node_data = sparse_pose_graph_->GetTrajectoryNodes(); const auto trajectory_nodes = sparse_pose_graph_->GetTrajectoryNodes();
for (int trajectory_id = 0; for (int trajectory_id = 0;
trajectory_id != static_cast<int>(node_data.size()); ++trajectory_id) { trajectory_id != static_cast<int>(trajectory_nodes.size());
++trajectory_id) {
for (int node_index = 0; for (int node_index = 0;
node_index != static_cast<int>(node_data[trajectory_id].size()); node_index !=
static_cast<int>(trajectory_nodes[trajectory_id].size());
++node_index) { ++node_index) {
proto::SerializedData proto; proto::SerializedData proto;
auto* const node_data_proto = proto.mutable_node_data(); auto* const node_proto = proto.mutable_node();
// TODO(whess): Handle trimmed data. // TODO(whess): Handle trimmed data.
node_data_proto->mutable_node_id()->set_trajectory_id(trajectory_id); node_proto->mutable_node_id()->set_trajectory_id(trajectory_id);
node_data_proto->mutable_node_id()->set_node_index(node_index); node_proto->mutable_node_id()->set_node_index(node_index);
*node_data_proto->mutable_trajectory_node() = *node_proto->mutable_node_data() =
ToProto(*node_data[trajectory_id][node_index].constant_data); ToProto(*trajectory_nodes[trajectory_id][node_index].constant_data);
// TODO(whess): Only enable optionally? Resulting pbstream files will be // TODO(whess): Only enable optionally? Resulting pbstream files will be
// a lot larger now. // a lot larger now.
writer->WriteProto(proto); writer->WriteProto(proto);

8
cartographer/mapping/proto/serialization.proto
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@ -18,7 +18,7 @@ package cartographer.mapping.proto;
import "cartographer/mapping/proto/sparse_pose_graph.proto"; import "cartographer/mapping/proto/sparse_pose_graph.proto";
import "cartographer/mapping/proto/submap.proto"; import "cartographer/mapping/proto/submap.proto";
import "cartographer/mapping/proto/trajectory_node.proto"; import "cartographer/mapping/proto/trajectory_node_data.proto";
message Submap { message Submap {
optional SubmapId submap_id = 1; optional SubmapId submap_id = 1;
@ -26,13 +26,13 @@ message Submap {
optional Submap3D submap_3d = 3; optional Submap3D submap_3d = 3;
} }
message NodeData { message Node {
optional NodeId node_id = 1; optional NodeId node_id = 1;
optional TrajectoryNode trajectory_node = 5; optional TrajectoryNodeData node_data = 5;
} }
message SerializedData { message SerializedData {
optional Submap submap = 1; optional Submap submap = 1;
optional NodeData node_data = 2; optional Node node = 2;
// TODO(whess): Add IMU data, odometry. // TODO(whess): Add IMU data, odometry.
} }

4
cartographer/mapping/proto/trajectory_node.proto → cartographer/mapping/proto/trajectory_node_data.proto
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@ -19,8 +19,8 @@ package cartographer.mapping.proto;
import "cartographer/sensor/proto/sensor.proto"; import "cartographer/sensor/proto/sensor.proto";
import "cartographer/transform/proto/transform.proto"; import "cartographer/transform/proto/transform.proto";
// Serialized state of a mapping::TrajectoryNode. // Serialized state of a mapping::TrajectoryNode::Data.
message TrajectoryNode { message TrajectoryNodeData {
optional int64 timestamp = 1; optional int64 timestamp = 1;
optional transform.proto.Quaterniond gravity_alignment = 2; optional transform.proto.Quaterniond gravity_alignment = 2;
optional sensor.proto.CompressedPointCloud optional sensor.proto.CompressedPointCloud

6
cartographer/mapping/trajectory_node.cc
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@ -24,8 +24,8 @@
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {
proto::TrajectoryNode ToProto(const TrajectoryNode::Data& constant_data) { proto::TrajectoryNodeData ToProto(const TrajectoryNode::Data& constant_data) {
proto::TrajectoryNode proto; proto::TrajectoryNodeData proto;
proto.set_timestamp(common::ToUniversal(constant_data.time)); proto.set_timestamp(common::ToUniversal(constant_data.time));
*proto.mutable_gravity_alignment() = *proto.mutable_gravity_alignment() =
transform::ToProto(constant_data.gravity_alignment); transform::ToProto(constant_data.gravity_alignment);
@ -47,7 +47,7 @@ proto::TrajectoryNode ToProto(const TrajectoryNode::Data& constant_data) {
return proto; return proto;
} }
TrajectoryNode::Data FromProto(const proto::TrajectoryNode& proto) { TrajectoryNode::Data FromProto(const proto::TrajectoryNodeData& proto) {
Eigen::VectorXf rotational_scan_matcher_histogram( Eigen::VectorXf rotational_scan_matcher_histogram(
proto.rotational_scan_matcher_histogram_size()); proto.rotational_scan_matcher_histogram_size());
for (int i = 0; i != proto.rotational_scan_matcher_histogram_size(); ++i) { for (int i = 0; i != proto.rotational_scan_matcher_histogram_size(); ++i) {

6
cartographer/mapping/trajectory_node.h
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@ -22,7 +22,7 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping/proto/trajectory_node.pb.h" #include "cartographer/mapping/proto/trajectory_node_data.pb.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
@ -57,8 +57,8 @@ struct TrajectoryNode {
transform::Rigid3d pose; transform::Rigid3d pose;
}; };
proto::TrajectoryNode ToProto(const TrajectoryNode::Data& constant_data); proto::TrajectoryNodeData ToProto(const TrajectoryNode::Data& constant_data);
TrajectoryNode::Data FromProto(const proto::TrajectoryNode& proto); TrajectoryNode::Data FromProto(const proto::TrajectoryNodeData& proto);
} // namespace mapping } // namespace mapping
} // namespace cartographer } // namespace cartographer

4
cartographer/mapping/trajectory_node_test.cc
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@ -20,7 +20,7 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping/proto/trajectory_node.pb.h" #include "cartographer/mapping/proto/trajectory_node_data.pb.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
namespace cartographer { namespace cartographer {
@ -37,7 +37,7 @@ TEST(TrajectoryNodeTest, ToAndFromProto) {
sensor::CompressedPointCloud({{-1.f, 2.f, 0.f}}).Decompress(), sensor::CompressedPointCloud({{-1.f, 2.f, 0.f}}).Decompress(),
Eigen::VectorXf::Unit(20, 4), Eigen::VectorXf::Unit(20, 4),
}; };
const proto::TrajectoryNode proto = ToProto(expected); const proto::TrajectoryNodeData proto = ToProto(expected);
const TrajectoryNode::Data actual = FromProto(proto); const TrajectoryNode::Data actual = FromProto(proto);
EXPECT_EQ(expected.time, actual.time); EXPECT_EQ(expected.time, actual.time);
EXPECT_TRUE(actual.gravity_alignment.isApprox(expected.gravity_alignment)); EXPECT_TRUE(actual.gravity_alignment.isApprox(expected.gravity_alignment));