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Rename proto::SparsePoseGraph. (#680) 

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
master
Wolfgang Hess 2017-11-15 14:58:49 +01:00 committed by Wally B. Feed
parent c866707013
commit bdca2095c0
7 changed files with 26 additions and 26 deletions
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12
cartographer/ground_truth/autogenerate_ground_truth_main.cc
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@ -21,7 +21,7 @@
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/ground_truth/proto/relations.pb.h" #include "cartographer/ground_truth/proto/relations.pb.h"
#include "cartographer/io/proto_stream.h" #include "cartographer/io/proto_stream.h"
#include "cartographer/mapping/proto/sparse_pose_graph.pb.h" #include "cartographer/mapping/proto/pose_graph.pb.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "gflags/gflags.h" #include "gflags/gflags.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -66,11 +66,11 @@ std::vector<double> ComputeCoveredDistance(
// TODO(whess): Should we consider all nodes inserted into the submap and // TODO(whess): Should we consider all nodes inserted into the submap and
// exclude, e.g. based on large relative linear or angular distance? // exclude, e.g. based on large relative linear or angular distance?
std::vector<int> ComputeSubmapRepresentativeNode( std::vector<int> ComputeSubmapRepresentativeNode(
const mapping::proto::SparsePoseGraph& pose_graph) { const mapping::proto::PoseGraph& pose_graph) {
std::vector<int> submap_to_node_index; std::vector<int> submap_to_node_index;
for (const auto& constraint : pose_graph.constraint()) { for (const auto& constraint : pose_graph.constraint()) {
if (constraint.tag() != if (constraint.tag() !=
mapping::proto::SparsePoseGraph::Constraint::INTRA_SUBMAP) { mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP) {
continue; continue;
} }
CHECK_EQ(constraint.submap_id().trajectory_id(), 0); CHECK_EQ(constraint.submap_id().trajectory_id(), 0);
@ -89,7 +89,7 @@ std::vector<int> ComputeSubmapRepresentativeNode(
} }
proto::GroundTruth GenerateGroundTruth( proto::GroundTruth GenerateGroundTruth(
const mapping::proto::SparsePoseGraph& pose_graph, const mapping::proto::PoseGraph& pose_graph,
const double min_covered_distance, const double outlier_threshold_meters, const double min_covered_distance, const double outlier_threshold_meters,
const double outlier_threshold_radians) { const double outlier_threshold_radians) {
const mapping::proto::Trajectory& trajectory = pose_graph.trajectory(0); const mapping::proto::Trajectory& trajectory = pose_graph.trajectory(0);
@ -104,7 +104,7 @@ proto::GroundTruth GenerateGroundTruth(
for (const auto& constraint : pose_graph.constraint()) { for (const auto& constraint : pose_graph.constraint()) {
// We're only interested in loop closure constraints. // We're only interested in loop closure constraints.
if (constraint.tag() == if (constraint.tag() ==
mapping::proto::SparsePoseGraph::Constraint::INTRA_SUBMAP) { mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP) {
continue; continue;
} }
@ -168,7 +168,7 @@ void Run(const std::string& pose_graph_filename,
const double outlier_threshold_meters, const double outlier_threshold_meters,
const double outlier_threshold_radians) { const double outlier_threshold_radians) {
LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'..."; LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'...";
mapping::proto::SparsePoseGraph pose_graph; mapping::proto::PoseGraph pose_graph;
{ {
io::ProtoStreamReader reader(pose_graph_filename); io::ProtoStreamReader reader(pose_graph_filename);
CHECK(reader.ReadProto(&pose_graph)); CHECK(reader.ReadProto(&pose_graph));

4
cartographer/ground_truth/compute_relations_metrics_main.cc
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@ -28,7 +28,7 @@
#include "cartographer/ground_truth/proto/relations.pb.h" #include "cartographer/ground_truth/proto/relations.pb.h"
#include "cartographer/ground_truth/relations_text_file.h" #include "cartographer/ground_truth/relations_text_file.h"
#include "cartographer/io/proto_stream.h" #include "cartographer/io/proto_stream.h"
#include "cartographer/mapping/proto/sparse_pose_graph.pb.h" #include "cartographer/mapping/proto/pose_graph.pb.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "cartographer/transform/transform_interpolation_buffer.h" #include "cartographer/transform/transform_interpolation_buffer.h"
@ -113,7 +113,7 @@ void Run(const std::string& pose_graph_filename,
const std::string& relations_filename, const std::string& relations_filename,
const bool read_text_file_with_unix_timestamps) { const bool read_text_file_with_unix_timestamps) {
LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'..."; LOG(INFO) << "Reading pose graph from '" << pose_graph_filename << "'...";
mapping::proto::SparsePoseGraph pose_graph; mapping::proto::PoseGraph pose_graph;
{ {
io::ProtoStreamReader reader(pose_graph_filename); io::ProtoStreamReader reader(pose_graph_filename);
CHECK(reader.ReadProto(&pose_graph)); CHECK(reader.ReadProto(&pose_graph));

6
cartographer/mapping/map_builder.cc
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@ -219,7 +219,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriter* const writer) {
} }
void MapBuilder::LoadMap(io::ProtoStreamReader* const reader) { void MapBuilder::LoadMap(io::ProtoStreamReader* const reader) {
proto::SparsePoseGraph pose_graph; proto::PoseGraph pose_graph;
CHECK(reader->ReadProto(&pose_graph)); CHECK(reader->ReadProto(&pose_graph));
std::map<int, int> trajectory_remapping; std::map<int, int> trajectory_remapping;
@ -278,10 +278,10 @@ void MapBuilder::LoadMap(io::ProtoStreamReader* const reader) {
} }
// Add information about which nodes belong to which submap. // Add information about which nodes belong to which submap.
for (const proto::SparsePoseGraph::Constraint& constraint_proto : for (const proto::PoseGraph::Constraint& constraint_proto :
pose_graph.constraint()) { pose_graph.constraint()) {
if (constraint_proto.tag() != if (constraint_proto.tag() !=
mapping::proto::SparsePoseGraph::Constraint::INTRA_SUBMAP) { mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP) {
continue; continue;
} }
const NodeId node_id{ const NodeId node_id{

20
cartographer/mapping/pose_graph.cc
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@ -24,23 +24,23 @@
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {
proto::SparsePoseGraph::Constraint::Tag ToProto( proto::PoseGraph::Constraint::Tag ToProto(
const PoseGraph::Constraint::Tag& tag) { const PoseGraph::Constraint::Tag& tag) {
switch (tag) { switch (tag) {
case PoseGraph::Constraint::Tag::INTRA_SUBMAP: case PoseGraph::Constraint::Tag::INTRA_SUBMAP:
return proto::SparsePoseGraph::Constraint::INTRA_SUBMAP; return proto::PoseGraph::Constraint::INTRA_SUBMAP;
case PoseGraph::Constraint::Tag::INTER_SUBMAP: case PoseGraph::Constraint::Tag::INTER_SUBMAP:
return proto::SparsePoseGraph::Constraint::INTER_SUBMAP; return proto::PoseGraph::Constraint::INTER_SUBMAP;
} }
LOG(FATAL) << "Unsupported tag."; LOG(FATAL) << "Unsupported tag.";
} }
PoseGraph::Constraint::Tag FromProto( PoseGraph::Constraint::Tag FromProto(
const proto::SparsePoseGraph::Constraint::Tag& proto) { const proto::PoseGraph::Constraint::Tag& proto) {
switch (proto) { switch (proto) {
case proto::SparsePoseGraph::Constraint::INTRA_SUBMAP: case proto::PoseGraph::Constraint::INTRA_SUBMAP:
return PoseGraph::Constraint::Tag::INTRA_SUBMAP; return PoseGraph::Constraint::Tag::INTRA_SUBMAP;
case proto::SparsePoseGraph::Constraint::INTER_SUBMAP: case proto::PoseGraph::Constraint::INTER_SUBMAP:
return PoseGraph::Constraint::Tag::INTER_SUBMAP; return PoseGraph::Constraint::Tag::INTER_SUBMAP;
case ::google::protobuf::kint32max: case ::google::protobuf::kint32max:
case ::google::protobuf::kint32min:; case ::google::protobuf::kint32min:;
@ -49,8 +49,8 @@ PoseGraph::Constraint::Tag FromProto(
} }
std::vector<PoseGraph::Constraint> FromProto( std::vector<PoseGraph::Constraint> FromProto(
const ::google::protobuf::RepeatedPtrField< const ::google::protobuf::RepeatedPtrField<proto::PoseGraph::Constraint>&
proto::SparsePoseGraph::Constraint>& constraint_protos) { constraint_protos) {
std::vector<PoseGraph::Constraint> constraints; std::vector<PoseGraph::Constraint> constraints;
for (const auto& constraint_proto : constraint_protos) { for (const auto& constraint_proto : constraint_protos) {
const mapping::SubmapId submap_id{ const mapping::SubmapId submap_id{
@ -96,8 +96,8 @@ proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions(
return options; return options;
} }
proto::SparsePoseGraph PoseGraph::ToProto() { proto::PoseGraph PoseGraph::ToProto() {
proto::SparsePoseGraph proto; proto::PoseGraph proto;
std::map<int, proto::Trajectory* const> trajectory_protos; std::map<int, proto::Trajectory* const> trajectory_protos;
const auto trajectory = [&proto, &trajectory_protos]( const auto trajectory = [&proto, &trajectory_protos](

6
cartographer/mapping/pose_graph.h
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@ -26,8 +26,8 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/id.h" #include "cartographer/mapping/id.h"
#include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/proto/pose_graph.pb.h"
#include "cartographer/mapping/proto/serialization.pb.h" #include "cartographer/mapping/proto/serialization.pb.h"
#include "cartographer/mapping/proto/sparse_pose_graph.pb.h"
#include "cartographer/mapping/proto/sparse_pose_graph_options.pb.h" #include "cartographer/mapping/proto/sparse_pose_graph_options.pb.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
@ -144,7 +144,7 @@ class PoseGraph {
virtual MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() = 0; virtual MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() = 0;
// Serializes the constraints and trajectories. // Serializes the constraints and trajectories.
proto::SparsePoseGraph ToProto(); proto::PoseGraph ToProto();
// Returns the IMU data. // Returns the IMU data.
virtual sensor::MapByTime<sensor::ImuData> GetImuData() = 0; virtual sensor::MapByTime<sensor::ImuData> GetImuData() = 0;
@ -165,7 +165,7 @@ class PoseGraph {
std::vector<PoseGraph::Constraint> FromProto( std::vector<PoseGraph::Constraint> FromProto(
const ::google::protobuf::RepeatedPtrField< const ::google::protobuf::RepeatedPtrField<
::cartographer::mapping::proto::SparsePoseGraph::Constraint>& ::cartographer::mapping::proto::PoseGraph::Constraint>&
constraint_protos); constraint_protos);
} // namespace mapping } // namespace mapping

2
cartographer/mapping/proto/sparse_pose_graph.proto → cartographer/mapping/proto/pose_graph.proto
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@ -29,7 +29,7 @@ message NodeId {
int32 node_index = 2; // Node index in the given trajectory. int32 node_index = 2; // Node index in the given trajectory.
} }
message SparsePoseGraph { message PoseGraph {
message Constraint { message Constraint {
// Differentiates between intra-submap (where the range data was inserted // Differentiates between intra-submap (where the range data was inserted
// into the submap) and inter-submap constraints (where the range data was // into the submap) and inter-submap constraints (where the range data was

2
cartographer/mapping/proto/serialization.proto
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@ -16,7 +16,7 @@ syntax = "proto3";
package cartographer.mapping.proto; package cartographer.mapping.proto;
import "cartographer/mapping/proto/sparse_pose_graph.proto"; import "cartographer/mapping/proto/pose_graph.proto";
import "cartographer/mapping/proto/submap.proto"; import "cartographer/mapping/proto/submap.proto";
import "cartographer/mapping/proto/trajectory_node_data.proto"; import "cartographer/mapping/proto/trajectory_node_data.proto";
import "cartographer/sensor/proto/sensor.proto"; import "cartographer/sensor/proto/sensor.proto";