From 36b9cf7f9a4609bb743d16329932d53dd31078a0 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Wed, 15 Nov 2017 11:30:35 +0100 Subject: [PATCH] Move the mapping_3d/sparse_pose_graph directory. (#676) [RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md) --- .../constraint_builder.cc | 6 +++--- .../constraint_builder.h | 12 ++++++------ .../optimization_problem.cc | 8 ++++---- .../optimization_problem.h | 10 +++++----- .../optimization_problem_test.cc | 6 +++--- .../spa_cost_function.h | 10 +++++----- cartographer/mapping_3d/sparse_pose_graph.cc | 12 ++++++------ cartographer/mapping_3d/sparse_pose_graph.h | 12 ++++++------ 8 files changed, 38 insertions(+), 38 deletions(-) rename cartographer/mapping_3d/{sparse_pose_graph => pose_graph}/constraint_builder.cc (98%) rename cartographer/mapping_3d/{sparse_pose_graph => pose_graph}/constraint_builder.h (95%) rename cartographer/mapping_3d/{sparse_pose_graph => pose_graph}/optimization_problem.cc (98%) rename cartographer/mapping_3d/{sparse_pose_graph => pose_graph}/optimization_problem.h (93%) rename cartographer/mapping_3d/{sparse_pose_graph => pose_graph}/optimization_problem_test.cc (98%) rename cartographer/mapping_3d/{sparse_pose_graph => pose_graph}/spa_cost_function.h (93%) diff --git a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_3d/pose_graph/constraint_builder.cc similarity index 98% rename from cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc rename to cartographer/mapping_3d/pose_graph/constraint_builder.cc index d5e41e7..149e704 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc +++ b/cartographer/mapping_3d/pose_graph/constraint_builder.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h" +#include "cartographer/mapping_3d/pose_graph/constraint_builder.h" #include #include @@ -36,7 +36,7 @@ namespace cartographer { namespace mapping_3d { -namespace sparse_pose_graph { +namespace pose_graph { ConstraintBuilder::ConstraintBuilder( const mapping::pose_graph::proto::ConstraintBuilderOptions& options, @@ -308,6 +308,6 @@ void ConstraintBuilder::DeleteScanMatcher(const mapping::SubmapId& submap_id) { submap_scan_matchers_.erase(submap_id); } -} // namespace sparse_pose_graph +} // namespace pose_graph } // namespace mapping_3d } // namespace cartographer diff --git a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h b/cartographer/mapping_3d/pose_graph/constraint_builder.h similarity index 95% rename from cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h rename to cartographer/mapping_3d/pose_graph/constraint_builder.h index a01886f..2285c02 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h +++ b/cartographer/mapping_3d/pose_graph/constraint_builder.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_ -#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_ +#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_H_ +#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_H_ #include #include @@ -32,9 +32,9 @@ #include "cartographer/common/mutex.h" #include "cartographer/common/thread_pool.h" #include "cartographer/mapping/trajectory_node.h" +#include "cartographer/mapping_3d/pose_graph/optimization_problem.h" #include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h" #include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h" -#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" #include "cartographer/mapping_3d/submaps.h" #include "cartographer/sensor/compressed_point_cloud.h" #include "cartographer/sensor/point_cloud.h" @@ -42,7 +42,7 @@ namespace cartographer { namespace mapping_3d { -namespace sparse_pose_graph { +namespace pose_graph { // Asynchronously computes constraints. // @@ -191,8 +191,8 @@ class ConstraintBuilder { common::Histogram low_resolution_score_histogram_ GUARDED_BY(mutex_); }; -} // namespace sparse_pose_graph +} // namespace pose_graph } // namespace mapping_3d } // namespace cartographer -#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_ +#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_H_ diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_3d/pose_graph/optimization_problem.cc similarity index 98% rename from cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc rename to cartographer/mapping_3d/pose_graph/optimization_problem.cc index ce70da0..d0aa3ae 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc +++ b/cartographer/mapping_3d/pose_graph/optimization_problem.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" +#include "cartographer/mapping_3d/pose_graph/optimization_problem.h" #include #include @@ -33,9 +33,9 @@ #include "cartographer/mapping_3d/acceleration_cost_function.h" #include "cartographer/mapping_3d/ceres_pose.h" #include "cartographer/mapping_3d/imu_integration.h" +#include "cartographer/mapping_3d/pose_graph/spa_cost_function.h" #include "cartographer/mapping_3d/rotation_cost_function.h" #include "cartographer/mapping_3d/rotation_parameterization.h" -#include "cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h" #include "cartographer/transform/timestamped_transform.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" @@ -45,7 +45,7 @@ namespace cartographer { namespace mapping_3d { -namespace sparse_pose_graph { +namespace pose_graph { namespace { @@ -484,6 +484,6 @@ transform::Rigid3d OptimizationProblem::ComputeRelativePose( return first_node_data.local_pose.inverse() * second_node_data.local_pose; } -} // namespace sparse_pose_graph +} // namespace pose_graph } // namespace mapping_3d } // namespace cartographer diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_3d/pose_graph/optimization_problem.h similarity index 93% rename from cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h rename to cartographer/mapping_3d/pose_graph/optimization_problem.h index 199315c..531c6f3 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h +++ b/cartographer/mapping_3d/pose_graph/optimization_problem.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ -#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ +#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ +#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ #include #include @@ -38,7 +38,7 @@ namespace cartographer { namespace mapping_3d { -namespace sparse_pose_graph { +namespace pose_graph { struct NodeData { common::Time time; @@ -116,8 +116,8 @@ class OptimizationProblem { std::vector trajectory_data_; }; -} // namespace sparse_pose_graph +} // namespace pose_graph } // namespace mapping_3d } // namespace cartographer -#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ +#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_ diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc b/cartographer/mapping_3d/pose_graph/optimization_problem_test.cc similarity index 98% rename from cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc rename to cartographer/mapping_3d/pose_graph/optimization_problem_test.cc index ce26853..3ea3260 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc +++ b/cartographer/mapping_3d/pose_graph/optimization_problem_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" +#include "cartographer/mapping_3d/pose_graph/optimization_problem.h" #include @@ -28,7 +28,7 @@ namespace cartographer { namespace mapping_3d { -namespace sparse_pose_graph { +namespace pose_graph { namespace { class OptimizationProblemTest : public ::testing::Test { @@ -189,6 +189,6 @@ TEST_F(OptimizationProblemTest, ReducesNoise) { } } // namespace -} // namespace sparse_pose_graph +} // namespace pose_graph } // namespace mapping_3d } // namespace cartographer diff --git a/cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h b/cartographer/mapping_3d/pose_graph/spa_cost_function.h similarity index 93% rename from cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h rename to cartographer/mapping_3d/pose_graph/spa_cost_function.h index 90c588b..4e40dea 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/spa_cost_function.h +++ b/cartographer/mapping_3d/pose_graph/spa_cost_function.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_ -#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_ +#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_ +#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_ #include @@ -30,7 +30,7 @@ namespace cartographer { namespace mapping_3d { -namespace sparse_pose_graph { +namespace pose_graph { class SpaCostFunction { public: @@ -103,8 +103,8 @@ class SpaCostFunction { const Constraint::Pose pose_; }; -} // namespace sparse_pose_graph +} // namespace pose_graph } // namespace mapping_3d } // namespace cartographer -#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_SPA_COST_FUNCTION_H_ +#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_H_ diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc index c9ae1e7..3cdd598 100644 --- a/cartographer/mapping_3d/sparse_pose_graph.cc +++ b/cartographer/mapping_3d/sparse_pose_graph.cc @@ -43,7 +43,7 @@ SparsePoseGraph::SparsePoseGraph( common::ThreadPool* thread_pool) : options_(options), optimization_problem_(options_.optimization_problem_options(), - sparse_pose_graph::OptimizationProblem::FixZ::kNo), + pose_graph::OptimizationProblem::FixZ::kNo), constraint_builder_(options_.constraint_builder_options(), thread_pool) {} SparsePoseGraph::~SparsePoseGraph() { @@ -324,7 +324,7 @@ void SparsePoseGraph::UpdateTrajectoryConnectivity( void SparsePoseGraph::HandleWorkQueue() { constraint_builder_.WhenDone( - [this](const sparse_pose_graph::ConstraintBuilder::Result& result) { + [this](const pose_graph::ConstraintBuilder::Result& result) { { common::MutexLocker locker(&mutex_); constraints_.insert(constraints_.end(), result.begin(), result.end()); @@ -378,8 +378,8 @@ void SparsePoseGraph::WaitForAllComputations() { } std::cout << "\r\x1b[KOptimizing: Done. " << std::endl; constraint_builder_.WhenDone( - [this, ¬ification]( - const sparse_pose_graph::ConstraintBuilder::Result& result) { + [this, + ¬ification](const pose_graph::ConstraintBuilder::Result& result) { common::MutexLocker locker(&mutex_); constraints_.insert(constraints_.end(), result.begin(), result.end()); notification = true; @@ -419,7 +419,7 @@ void SparsePoseGraph::AddSubmapFromProto( submap_data_.at(submap_id).submap = submap_ptr; // Immediately show the submap at the 'global_submap_pose'. optimized_submap_transforms_.Insert( - submap_id, sparse_pose_graph::SubmapData{global_submap_pose}); + submap_id, pose_graph::SubmapData{global_submap_pose}); AddWorkItem([this, submap_id, global_submap_pose]() REQUIRES(mutex_) { CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1); submap_data_.at(submap_id).state = SubmapState::kFinished; @@ -652,7 +652,7 @@ SparsePoseGraph::GetAllSubmapData() { } transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform( - const mapping::MapById& + const mapping::MapById& submap_transforms, const int trajectory_id) const { auto begin_it = submap_transforms.BeginOfTrajectory(trajectory_id); diff --git a/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h index 1920094..1ed97b0 100644 --- a/cartographer/mapping_3d/sparse_pose_graph.h +++ b/cartographer/mapping_3d/sparse_pose_graph.h @@ -35,8 +35,8 @@ #include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/sparse_pose_graph.h" #include "cartographer/mapping/trajectory_connectivity_state.h" -#include "cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h" -#include "cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h" +#include "cartographer/mapping_3d/pose_graph/constraint_builder.h" +#include "cartographer/mapping_3d/pose_graph/optimization_problem.h" #include "cartographer/mapping_3d/submaps.h" #include "cartographer/sensor/fixed_frame_pose_data.h" #include "cartographer/sensor/odometry_data.h" @@ -175,7 +175,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { // Computes the local to global map frame transform based on the given // optimized 'submap_transforms'. transform::Rigid3d ComputeLocalToGlobalTransform( - const mapping::MapById& + const mapping::MapById& submap_transforms, int trajectory_id) const REQUIRES(mutex_); @@ -216,8 +216,8 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { bool run_loop_closure_ GUARDED_BY(mutex_) = false; // Current optimization problem. - sparse_pose_graph::OptimizationProblem optimization_problem_; - sparse_pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_); + pose_graph::OptimizationProblem optimization_problem_; + pose_graph::ConstraintBuilder constraint_builder_ GUARDED_BY(mutex_); std::vector constraints_ GUARDED_BY(mutex_); // Submaps get assigned an ID and state as soon as they are seen, even @@ -231,7 +231,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0; // Current submap transforms used for displaying data. - mapping::MapById + mapping::MapById optimized_submap_transforms_ GUARDED_BY(mutex_); // List of all trimmers to consult when optimizations finish.