Merge pull request #385 from ethz-asl/devel/clean_maplab_common

Cleaning up in maplab common
ethz-asl · Apr 19, 2023 · ab0d958 · ab0d958
2 parents 24a56d3 + e2fb04e
commit ab0d958
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Showing 74 changed files with 64 additions and 4,220 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -76,9 +76,6 @@
 [submodule "dependencies/internal/plotty"]
 	path = dependencies/internal/plotty
 	url = git@github.com:ethz-asl/plotty.git
-[submodule "dependencies/3rdparty/benchmark_catkin"]
-	path = dependencies/3rdparty/benchmark_catkin
-	url = git@github.com:ethz-asl/benchmark_catkin.git
 [submodule "dependencies/internal/ros-system-monitor"]
 	path = dependencies/internal/ros-system-monitor
 	url = git@github.com:ethz-asl/ros-system-monitor

diff --git a/...rithms/loopclosure/loop-closure-handler/include/loop-closure-handler/loop-detector-node.h b/...rithms/loopclosure/loop-closure-handler/include/loop-closure-handler/loop-detector-node.h
@@ -14,7 +14,6 @@
 #include <descriptor-projection/descriptor-projection.h>
 #include <localization-summary-map/unique-id.h>
 #include <loopclosure-common/types.h>
-#include <maplab-common/file-serializable.h>
 #include <sensors/external-features.h>
 #include <vi-map/mission-baseframe.h>
 #include <vi-map/unique-id.h>

diff --git a/algorithms/loopclosure/loopclosure-common/src/flags.cc b/algorithms/loopclosure/loopclosure-common/src/flags.cc
@@ -7,7 +7,7 @@ DEFINE_string(
     feature_descriptor_type, loop_closure::kFeatureDescriptorBRISK,
     "The feature descriptors to use. [brisk, freak]");
 DEFINE_double(
-    lc_knn_epsilon, 3.0,
+    lc_knn_epsilon, 2.0,
     "Epsilon approximation value for the nearest neighbor search.");
 DEFINE_double(
     lc_knn_max_radius, 20.0, "Max radius for the nearest neighbor search.");
diff --git a/algorithms/loopclosure/vocabulary-tree/test/test_binary-descriptor.cc b/algorithms/loopclosure/vocabulary-tree/test/test_binary-descriptor.cc
@@ -1,5 +1,4 @@
 #include <loopclosure-common/types.h>
-#include <maplab-common/feature-descriptor-ref.h>
 #include <maplab-common/test/testing-entrypoint.h>
 
 #include "vocabulary-tree/distance.h"

diff --git a/algorithms/loopclosure/vocabulary-tree/test/test_binary-kmeans.cc b/algorithms/loopclosure/vocabulary-tree/test/test_binary-kmeans.cc
@@ -4,7 +4,6 @@
 #include <Eigen/Core>
 #include <Eigen/StdVector>
 #include <loopclosure-common/types.h>
-#include <maplab-common/feature-descriptor-ref.h>
 #include <maplab-common/test/testing-entrypoint.h>
 
 #include "vocabulary-tree/simple-kmeans.h"

diff --git a/algorithms/map-sparsification/test/test_lpsolve_landmark_sparsification.cc b/algorithms/map-sparsification/test/test_lpsolve_landmark_sparsification.cc
@@ -1,7 +1,7 @@
 #include <gtest/gtest.h>
 #include <maplab-common/test/testing-entrypoint.h>
 #include <maplab-common/test/testing-predicates.h>
-#include <maplab-common/vector-window-operations.h>
+#include <numeric>
 #include <vi-map-helpers/vi-map-partitioner.h>
 #include <vi-mapping-test-app/vi-mapping-test-app.h>
 
@@ -89,10 +89,16 @@ class ViMappingTest : public ::testing::Test {
         landmark_ids.size());
 
     constexpr size_t kInvalidValue = -1;
-    const size_t avg_observers_kept = common::window_vec_ops::computeAverage(
-        nums_observations_kept_landmarks, kInvalidValue);
-    const size_t avg_observers_removed = common::window_vec_ops::computeAverage(
-        nums_observations_removed_landmarks, kInvalidValue);
+    const size_t avg_observers_kept =
+        std::accumulate(
+            nums_observations_kept_landmarks.begin(),
+            nums_observations_kept_landmarks.end(), 0.0) /
+        nums_observations_kept_landmarks.size();
+    const size_t avg_observers_removed =
+        std::accumulate(
+            nums_observations_removed_landmarks.begin(),
+            nums_observations_removed_landmarks.end(), 0.0) /
+        nums_observations_removed_landmarks.size();
 
     // Make sure the difference between kept and removed landmarks is
     // reasonably large.

diff --git a/algorithms/simulation/test/test-gps-simulator.cc b/algorithms/simulation/test/test-gps-simulator.cc
@@ -8,7 +8,6 @@
 #include <eigen-checks/gtest.h>
 #include <glog/logging.h>
 #include <gtest/gtest.h>
-#include <maplab-common/feature-descriptor-ref.h>
 #include <maplab-common/global-coordinate-tools.h>
 #include <maplab-common/file-logger.h>
 #include <maplab-common/test/testing-entrypoint.h>

diff --git a/algorithms/simulation/test/test-nframe-simulator.cc b/algorithms/simulation/test/test-nframe-simulator.cc
@@ -11,7 +11,6 @@
 #include <eigen-checks/gtest.h>
 #include <glog/logging.h>
 #include <gtest/gtest.h>
-#include <maplab-common/feature-descriptor-ref.h>
 #include <maplab-common/test/testing-entrypoint.h>
 #include <maplab-common/test/testing-predicates.h>
 

diff --git a/common/maplab-common/CMakeLists.txt b/common/maplab-common/CMakeLists.txt
@@ -21,31 +21,22 @@ include_directories(${PYTHON_INCLUDE_DIRS})
 #############
 find_package(Threads)
 cs_add_library(${PROJECT_NAME} src/binary-serialization.cc
-                               src/breakpoints.cc
-                               src/combinatorial.cc
-                               src/condition.cc
-                               src/cubic-spline.cc
                                src/feature-descriptor-ref.cc
-                               src/file-lock.cc
                                src/file-logger.cc
                                src/file-system-tools.cc
                                src/geometry.cc
                                src/global-coordinate-tools.cc
-                               src/gnuplot-interface.cc
                                src/gravity-provider.cc
-                               src/histograms.cc
                                src/map-manager-config.cc
                                src/multi-threaded-progress-bar.cc
                                src/progress-bar.cc
                                src/proto-serialization-helper.cc
-                               src/python-interface.cc
                                src/shared-gflags.cc
                                src/sigint-breaker.cc
                                src/signals.cc
                                src/stringprintf.cc
                                src/test/testing-entrypoint.cc
                                src/threading-helpers.cc
-                               src/tridiagonal-matrix.cc
                                ${PROTO_SRCS}
                                ${PROTO_HDRS})
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT} ${PYTHON_LIBRARIES} readline)
@@ -73,25 +64,14 @@ catkin_add_gtest(test_eigen_proto_test
   test/test_eigen_proto_test.cc)
 target_link_libraries(test_eigen_proto_test ${PROJECT_NAME})
 
-catkin_add_gtest(test_file_lock_test
-  test/test_file_lock.cc)
-target_link_libraries(test_file_lock_test ${PROJECT_NAME})
-
 catkin_add_gtest(test_geometry_test
                  test/test_geometry.cc)
 target_link_libraries(test_geometry_test ${PROJECT_NAME})
 
-catkin_add_gtest(test_kruskal_max_span_tree
-  test/test_kruskal_max_span_tree.cc)
-target_link_libraries(test_kruskal_max_span_tree ${PROJECT_NAME})
-
 catkin_add_gtest(test_multi_threaded_progress_bar
   test/test_multi_threaded_progress_bar.cc)
 target_link_libraries(test_multi_threaded_progress_bar ${PROJECT_NAME})
 
-catkin_add_gtest(test_ordered_monitors test/test_ordered_monitors.cc)
-target_link_libraries(test_ordered_monitors ${PROJECT_NAME})
-
 catkin_add_gtest(test_parallel_process
   test/test_parallel_process.cc)
 target_link_libraries(test_parallel_process ${PROJECT_NAME})
@@ -117,21 +97,9 @@ catkin_add_gtest(test_file_system_tools
 target_link_libraries(test_file_system_tools ${PROJECT_NAME})
 add_dependencies(test_file_system_tools ${PROJECT_TEST_DATA})
 
-catkin_add_gtest(test_data_synchronizer
-  test/test_data_synchronizer.cc)
-target_link_libraries(test_data_synchronizer ${PROJECT_NAME})
-
-catkin_add_gtest(test_vector_window_operations
-  test/test_vector-window-operations.cc)
-target_link_libraries(test_vector_window_operations ${PROJECT_NAME})
-
 catkin_add_gtest(test_temporal_buffer test/test_temporal_buffer.cc)
 target_link_libraries(test_temporal_buffer ${PROJECT_NAME})
 
-catkin_add_gtest(test_combinatorial
-  test/test_combinatorial.cc)
-target_link_libraries(test_combinatorial ${PROJECT_NAME})
-
 catkin_add_gtest(test_feature_descriptor_ref
   test/test_feature-descriptor-ref.cc)
 target_link_libraries(test_feature_descriptor_ref ${PROJECT_NAME})
@@ -144,27 +112,10 @@ catkin_add_gtest(test_file_logger
   test/test_file_logger.cc)
 target_link_libraries(test_file_logger ${PROJECT_NAME})
 
-catkin_add_gtest(test_python_interface
-  test/test_python_interface.cc)
-target_link_libraries(test_python_interface ${PROJECT_NAME} ${PYTHON_LIBRARIES})
-
 catkin_add_gtest(test_string_tools
   test/test_string_tools.cc)
 target_link_libraries(test_string_tools ${PROJECT_NAME})
 
-catkin_add_gtest(test_threadsafe_temporal_buffer
-  test/test-threadsafe-temporal-buffer.cc)
-target_link_libraries(test_threadsafe_temporal_buffer ${PROJECT_NAME})
-
-catkin_add_gtest(test_thread_safe_queue
-  test/test_threadsafe_queue.cc)
-target_link_libraries(test_thread_safe_queue ${PROJECT_NAME})
-
-
-catkin_add_gtest(test_threaded_task_queue_processor
-  test/test-threaded-task-queue-processor.cc)
-target_link_libraries(test_threaded_task_queue_processor ${PROJECT_NAME})
-
 catkin_add_gtest(test_monitor test/test_monitor.cc)
 target_link_libraries(test_monitor ${PROJECT_NAME})
 

diff --git a/common/maplab-common/include/maplab-common/backtrace.h b/common/maplab-common/include/maplab-common/backtrace.h
diff --git a/common/maplab-common/include/maplab-common/breakpoints.h b/common/maplab-common/include/maplab-common/breakpoints.h