diff --git a/CMakeLists.txt b/CMakeLists.txt index 2b42f83..472a8fe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -124,8 +124,6 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${Boost_INCLUDE_DIRS}") target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES}) -target_link_libraries(${PROJECT_NAME} PUBLIC webp) - # We expect find_package(Ceres) to have located these for us. target_link_libraries(${PROJECT_NAME} PUBLIC glog) target_link_libraries(${PROJECT_NAME} PUBLIC gflags) diff --git a/cartographer/mapping_2d/proto/submaps_options.proto b/cartographer/mapping_2d/proto/submaps_options.proto index 81d78fa..5538c6a 100644 --- a/cartographer/mapping_2d/proto/submaps_options.proto +++ b/cartographer/mapping_2d/proto/submaps_options.proto @@ -30,8 +30,5 @@ message SubmapsOptions { // against, then while being matched. optional int32 num_range_data = 3; - // If enabled, submap%d.png images are written for debugging. - optional bool output_debug_images = 4; - optional RangeDataInserterOptions range_data_inserter_options = 5; } diff --git a/cartographer/mapping_2d/sparse_pose_graph_test.cc b/cartographer/mapping_2d/sparse_pose_graph_test.cc index 6103cf6..820484d 100644 --- a/cartographer/mapping_2d/sparse_pose_graph_test.cc +++ b/cartographer/mapping_2d/sparse_pose_graph_test.cc @@ -53,7 +53,6 @@ class SparsePoseGraphTest : public ::testing::Test { resolution = 0.05, half_length = 21., num_range_data = 1, - output_debug_images = false, range_data_inserter = { insert_free_space = true, hit_probability = 0.53, diff --git a/cartographer/mapping_2d/submaps.cc b/cartographer/mapping_2d/submaps.cc index 74d6ba8..abe8354 100644 --- a/cartographer/mapping_2d/submaps.cc +++ b/cartographer/mapping_2d/submaps.cc @@ -26,44 +26,10 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/port.h" #include "glog/logging.h" -#include "webp/encode.h" namespace cartographer { namespace mapping_2d { -namespace { - -void WriteDebugImage(const string& filename, - const ProbabilityGrid& probability_grid) { - constexpr int kUnknown = 128; - const CellLimits& cell_limits = probability_grid.limits().cell_limits(); - const int width = cell_limits.num_x_cells; - const int height = cell_limits.num_y_cells; - std::vector rgb; - for (const Eigen::Array2i& xy_index : - XYIndexRangeIterator(probability_grid.limits().cell_limits())) { - CHECK(probability_grid.limits().Contains(xy_index)); - const uint8_t value = - probability_grid.IsKnown(xy_index) - ? common::RoundToInt( - (1. - probability_grid.GetProbability(xy_index)) * 255 + 0) - : kUnknown; - rgb.push_back(value); - rgb.push_back(value); - rgb.push_back(value); - } - uint8_t* output = nullptr; - size_t output_size = - WebPEncodeLosslessRGB(rgb.data(), width, height, 3 * width, &output); - std::unique_ptr output_deleter(output, std::free); - std::ofstream output_file(filename, std::ios::out | std::ios::binary); - output_file.write(reinterpret_cast(output), output_size); - output_file.close(); - CHECK(output_file) << "Writing " << filename << " failed."; -} - -} // namespace - ProbabilityGrid ComputeCroppedProbabilityGrid( const ProbabilityGrid& probability_grid) { Eigen::Array2i offset; @@ -91,8 +57,6 @@ proto::SubmapsOptions CreateSubmapsOptions( options.set_half_length(parameter_dictionary->GetDouble("half_length")); options.set_num_range_data( parameter_dictionary->GetNonNegativeInt("num_range_data")); - options.set_output_debug_images( - parameter_dictionary->GetBool("output_debug_images")); *options.mutable_range_data_inserter_options() = CreateRangeDataInserterOptions( parameter_dictionary->GetDictionary("range_data_inserter").get()); @@ -190,11 +154,6 @@ int ActiveSubmaps::matching_index() const { return matching_submap_index_; } void ActiveSubmaps::FinishSubmap() { Submap* submap = submaps_.front().get(); submap->Finish(); - if (options_.output_debug_images()) { - // Output the Submap that won't be changed from now on. - WriteDebugImage("submap" + std::to_string(matching_submap_index_) + ".webp", - submaps_.front()->probability_grid()); - } ++matching_submap_index_; submaps_.erase(submaps_.begin()); } diff --git a/cartographer/mapping_2d/submaps_test.cc b/cartographer/mapping_2d/submaps_test.cc index 1ce505a..feccbcd 100644 --- a/cartographer/mapping_2d/submaps_test.cc +++ b/cartographer/mapping_2d/submaps_test.cc @@ -40,7 +40,6 @@ TEST(SubmapsTest, TheRightNumberOfScansAreInserted) { "num_range_data = " + std::to_string(kNumRangeData) + ", " - "output_debug_images = false, " "range_data_inserter = {" "insert_free_space = true, " "hit_probability = 0.53, " diff --git a/configuration_files/trajectory_builder_2d.lua b/configuration_files/trajectory_builder_2d.lua index f491536..4a5b98e 100644 --- a/configuration_files/trajectory_builder_2d.lua +++ b/configuration_files/trajectory_builder_2d.lua @@ -59,7 +59,6 @@ TRAJECTORY_BUILDER_2D = { resolution = 0.05, half_length = 200., num_range_data = 90, - output_debug_images = false, range_data_inserter = { insert_free_space = true, hit_probability = 0.55, diff --git a/docs/source/configuration.rst b/docs/source/configuration.rst index 0158812..1d2c1f3 100644 --- a/docs/source/configuration.rst +++ b/docs/source/configuration.rst @@ -267,9 +267,6 @@ int32 num_range_data number of scans inserted: First for initialization without being matched against, then while being matched. -bool output_debug_images - If enabled, submap%d.png images are written for debugging. - cartographer.mapping_2d.proto.RangeDataInserterOptions range_data_inserter_options Not yet documented. @@ -286,9 +283,6 @@ double translation_weight double rotation_weight Not yet documented. -double covariance_scale - Scale applied to the covariance estimate from Ceres. - cartographer.common.proto.CeresSolverOptions ceres_solver_options Configure the Ceres solver. See the Ceres documentation for more information: https://code.google.com/p/ceres-solver/ diff --git a/package.xml b/package.xml index 10b78ce..6a0a825 100644 --- a/package.xml +++ b/package.xml @@ -42,7 +42,6 @@ libcairo2-dev libgflags-dev libgoogle-glog-dev - libwebp-dev lua5.2-dev protobuf-dev diff --git a/scripts/install_debs.sh b/scripts/install_debs.sh index e724859..a458311 100755 --- a/scripts/install_debs.sh +++ b/scripts/install_debs.sh @@ -32,7 +32,6 @@ sudo apt-get install -y \ liblua5.2-dev \ libprotobuf-dev \ libsuitesparse-dev \ - libwebp-dev \ ninja-build \ protobuf-compiler \ python-sphinx