Removes sensor packet period histogram. (cartographer-project#104)

agilizer · Oct 26, 2016 · 15f9244 · 15f9244
1 parent 6e6d2de
commit 15f9244
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diff --git a/cartographer/common/histogram.cc b/cartographer/common/histogram.cc
@@ -26,38 +26,6 @@
 namespace cartographer {
 namespace common {
 
-namespace {
-
-string PaddedTo(string input, int new_length) {
-  CHECK_GE(new_length, input.size());
-  input.insert(input.begin(), new_length - input.size(), ' ');
-  return input;
-}
-
-}  // namespace
-
-void BucketHistogram::Hit(const string& bucket) { ++buckets_[bucket]; }
-
-string BucketHistogram::ToString() const {
-  int64 sum = 0;
-  size_t max_bucket_name_length = 0;
-  for (const auto& pair : buckets_) {
-    sum += pair.second;
-    max_bucket_name_length =
-        std::max(pair.first.size(), max_bucket_name_length);
-  }
-
-  string result;
-  for (const auto& pair : buckets_) {
-    const float percent = 100.f * pair.second / std::max<int64>(1, sum);
-    result += PaddedTo(pair.first, max_bucket_name_length) + ": " +
-              PaddedTo(std::to_string(pair.second), 7) + " (" +
-              std::to_string(percent) + " %)\n";
-  }
-  result += "Total: " + std::to_string(sum);
-  return result;
-}
-
 void Histogram::Add(const float value) { values_.push_back(value); }
 
 string Histogram::ToString(const int buckets) const {

diff --git a/cartographer/common/histogram.h b/cartographer/common/histogram.h
@@ -26,15 +26,6 @@
 namespace cartographer {
 namespace common {
 
-class BucketHistogram {
- public:
-  void Hit(const string& bucket);
-  string ToString() const;
-
- private:
-  std::map<string, int64> buckets_;
-};
-
 class Histogram {
  public:
   void Add(float value);

diff --git a/cartographer/sensor/CMakeLists.txt b/cartographer/sensor/CMakeLists.txt
@@ -24,7 +24,6 @@ google_library(sensor_collator
     common_time
     sensor_data
     sensor_ordered_multi_queue
-    sensor_sensor_packet_period_histogram_builder
 )
 
 google_library(sensor_compressed_point_cloud
@@ -103,17 +102,6 @@ google_library(sensor_point_cloud
     transform_transform
 )
 
-google_library(sensor_sensor_packet_period_histogram_builder
-  USES_GLOG
-  SRCS
-    sensor_packet_period_histogram_builder.cc
-  HDRS
-    sensor_packet_period_histogram_builder.h
-  DEPENDS
-    common_histogram
-    common_port
-)
-
 google_library(sensor_voxel_filter
   SRCS
     voxel_filter.cc

diff --git a/cartographer/sensor/collator.h b/cartographer/sensor/collator.h
@@ -29,7 +29,6 @@
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/sensor/ordered_multi_queue.h"
-#include "cartographer/sensor/sensor_packet_period_histogram_builder.h"
 #include "glog/logging.h"
 
 namespace cartographer {
@@ -71,16 +70,13 @@ class Collator {
   // order.
   void AddSensorData(const int trajectory_id, const string& sensor_id,
                      std::unique_ptr<Data> data) {
-    sensor_packet_period_histogram_builder_.Add(
-        trajectory_id, common::ToUniversal(data->time), sensor_id);
     queue_.Add(QueueKey{trajectory_id, sensor_id}, std::move(data));
   }
 
   // Dispatches all queued sensor packets. May only be called once.
   // AddSensorData may not be called after Flush.
   void Flush() {
     queue_.Flush();
-    sensor_packet_period_histogram_builder_.LogHistogramsAndClear();
   }
 
   // Returns the number of packets associated with 'trajectory_id' that are
@@ -99,7 +95,6 @@ class Collator {
 
   // Map of trajectory ID to all associated QueueKeys.
   std::unordered_map<int, std::vector<QueueKey>> queue_keys_;
-  SensorPacketPeriodHistogramBuilder sensor_packet_period_histogram_builder_;
 };
 
 }  // namespace sensor

diff --git a/cartographer/sensor/sensor_packet_period_histogram_builder.cc b/cartographer/sensor/sensor_packet_period_histogram_builder.cc
diff --git a/cartographer/sensor/sensor_packet_period_histogram_builder.h b/cartographer/sensor/sensor_packet_period_histogram_builder.h