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Follow Cartographer API. (#286) 

Rename LaserFan to RangeData.
master
Wolfgang Hess 2017-03-23 16:07:38 +01:00 committed by GitHub
parent 2dd30a853b
commit 8b3af77fde
7 changed files with 20 additions and 19 deletions
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9
cartographer_ros/cartographer_ros/assets_writer.cc
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@ -23,7 +23,7 @@
#include "cartographer/io/points_processor.h"
#include "cartographer/io/xray_points_processor.h"
#include "cartographer/mapping/proto/trajectory.pb.h"
#include "cartographer/mapping_2d/proto/laser_fan_inserter_options.pb.h"
#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
#include "cartographer_ros/map_writer.h"
#include "cartographer_ros/occupancy_grid.h"
#include "nav_msgs/OccupancyGrid.h"
@ -72,13 +72,14 @@ void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
file_writer_factory(stem + ".ply"), &xz_xray_points_processor);
for (const auto& node : trajectory_nodes) {
const carto::sensor::LaserFan laser_fan = carto::sensor::TransformLaserFan(
const carto::sensor::RangeData range_data =
carto::sensor::TransformRangeData(
carto::sensor::Decompress(node.constant_data->range_data_3d),
node.pose.cast<float>());
auto points_batch = carto::common::make_unique<carto::io::PointsBatch>();
points_batch->origin = laser_fan.origin;
points_batch->points = laser_fan.returns;
points_batch->origin = range_data.origin;
points_batch->points = range_data.returns;
for (const uint8 reflectivity :
node.constant_data->range_data_3d.reflectivities) {
points_batch->colors.push_back(

2
cartographer_ros/cartographer_ros/assets_writer_main.cc
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@ -26,8 +26,8 @@
#include "cartographer/io/file_writer.h"
#include "cartographer/io/points_processor.h"
#include "cartographer/io/points_processor_pipeline_builder.h"
#include "cartographer/sensor/laser.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/range_data.h"
#include "cartographer/transform/transform_interpolation_buffer.h"
#include "cartographer_ros/bag_reader.h"
#include "cartographer_ros/msg_conversion.h"

2
cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -104,7 +104,7 @@ cartographer_ros_msgs::SubmapList MapBuilderBridge::GetSubmapList() {
++submap_index) {
cartographer_ros_msgs::SubmapEntry submap_entry;
submap_entry.submap_version =
submaps->Get(submap_index)->end_laser_fan_index;
submaps->Get(submap_index)->end_range_data_index;
submap_entry.pose = ToGeometryMsgPose(submap_transforms[submap_index]);
trajectory_submap_list.submap.push_back(submap_entry);
}

8
cartographer_ros/cartographer_ros/msg_conversion.cc
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@ -162,11 +162,11 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
sensor_msgs::PointCloud2 ToPointCloud2Message(
const int64 timestamp, const string& frame_id,
const ::cartographer::sensor::proto::LaserFan& laser_fan) {
CHECK(::cartographer::transform::ToEigen(laser_fan.origin()).norm() == 0)
<< "Trying to convert a laser_fan that is not at the origin.";
const ::cartographer::sensor::proto::RangeData& range_data) {
CHECK(::cartographer::transform::ToEigen(range_data.origin()).norm() == 0)
<< "Trying to convert a range_data that is not at the origin.";
const auto& point_cloud = laser_fan.point_cloud();
const auto& point_cloud = range_data.point_cloud();
CHECK_EQ(point_cloud.x_size(), point_cloud.y_size());
CHECK_EQ(point_cloud.x_size(), point_cloud.z_size());
const auto num_points = point_cloud.x_size();

2
cartographer_ros/cartographer_ros/msg_conversion.h
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@ -50,7 +50,7 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
sensor_msgs::PointCloud2 ToPointCloud2Message(
int64 timestamp, const string& frame_id,
const ::cartographer::sensor::proto::LaserFan& laser_fan);
const ::cartographer::sensor::proto::RangeData& range_data);
geometry_msgs::Transform ToGeometryMsgTransform(
const ::cartographer::transform::Rigid3d& rigid3d);

8
cartographer_ros/cartographer_ros/occupancy_grid.cc
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@ -36,12 +36,12 @@ void BuildOccupancyGrid(
carto::mapping_2d::MapLimits::ComputeMapLimits(
submaps_options.resolution(), trajectory_nodes);
carto::mapping_2d::ProbabilityGrid probability_grid(map_limits);
carto::mapping_2d::LaserFanInserter laser_fan_inserter(
submaps_options.laser_fan_inserter_options());
carto::mapping_2d::RangeDataInserter range_data_inserter(
submaps_options.range_data_inserter_options());
for (const auto& node : trajectory_nodes) {
CHECK(node.constant_data->range_data_3d.returns.empty()); // No 3D yet.
laser_fan_inserter.Insert(
carto::sensor::TransformLaserFan(node.constant_data->laser_fan_2d,
range_data_inserter.Insert(
carto::sensor::TransformRangeData(node.constant_data->range_data_2d,
node.pose.cast<float>()),
&probability_grid);
}

2
cartographer_ros/configuration_files/taurob_tracker.lua
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@ -33,7 +33,7 @@ options = {
TRAJECTORY_BUILDER_3D.scans_per_accumulation = 180
TRAJECTORY_BUILDER_3D.laser_min_range = 0.5
TRAJECTORY_BUILDER_3D.laser_max_range = 20.
TRAJECTORY_BUILDER_3D.submaps.num_laser_fans = 40.
TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
MAP_BUILDER.use_trajectory_builder_3d = true
MAP_BUILDER.num_background_threads = 7