Remove output_debug_images. (#358)

This is now better done by RViz. This also gets rid of the dependency on webp.

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)

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;
 }

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,

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<uint8_t> 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<uint8_t, void (*)(void*)> output_deleter(output, std::free);
-  std::ofstream output_file(filename, std::ios::out | std::ios::binary);
-  output_file.write(reinterpret_cast<char*>(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());
 }

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, "

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,

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/

package.xml

@@ -42,7 +42,6 @@
   <depend>libcairo2-dev</depend>
   <depend>libgflags-dev</depend>
   <depend>libgoogle-glog-dev</depend>
-  <depend>libwebp-dev</depend>
   <depend>lua5.2-dev</depend>
   <depend>protobuf-dev</depend>
 

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