Remove output_debug_images. (#358)

This is now better done by RViz. This also gets rid of the dependency on webp.
master
Holger Rapp 2017-06-23 14:53:04 +02:00 committed by GitHub
parent 10318d920e
commit ff37b0bb7d
9 changed files with 0 additions and 57 deletions

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@ -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)

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@ -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;
}

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@ -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,

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@ -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());
}

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@ -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, "

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@ -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,

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@ -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/

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@ -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>

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@ -32,7 +32,6 @@ sudo apt-get install -y \
liblua5.2-dev \
libprotobuf-dev \
libsuitesparse-dev \
libwebp-dev \
ninja-build \
protobuf-compiler \
python-sphinx