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Cleanup OccupancyGrid's cellCount_ unused member (#1639) (#1640)

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matlabbe
2026-01-19 15:43:14 -08:00
committed by GitHub
parent 42faef3941
commit 48f529b4c6
2 changed files with 0 additions and 76 deletions
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75
corelib/src/global_map/OccupancyGrid.cpp
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@@ -92,7 +92,6 @@ void OccupancyGrid::clear()
{
map_ = cv::Mat();
mapInfo_ = cv::Mat();
cellCount_.clear();
GlobalMap::clear();
}
@@ -433,11 +432,6 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
if(iter != emptyLocalMaps.end() || jter!=occupiedLocalMaps.end())
{
addAssembledNode(kter->first, kter->second);
std::map<int, std::pair<int, int> >::iterator cter = cellCount_.find(kter->first);
if(cter == cellCount_.end() && kter->first > 0)
{
cter = cellCount_.insert(std::make_pair(kter->first, std::pair<int,int>(0,0))).first;
}
if(iter!=emptyLocalMaps.end())
{
for(int i=0; i<iter->second.cols; ++i)
@@ -459,30 +453,12 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
// cannot rewrite on cells referred by more recent nodes
continue;
}
if(nodeId > 0)
{
std::map<int, std::pair<int, int> >::iterator eter = cellCount_.find(nodeId);
UASSERT_MSG(eter != cellCount_.end(), uFormat("current pose=%d nodeId=%d", kter->first, nodeId).c_str());
if(value == 0)
{
eter->second.first -= 1;
}
else if(value == 100)
{
eter->second.second -= 1;
}
if(kter->first < 0)
{
eter->second.first += 1;
}
}
}
if(kter->first > 0)
{
info[0] = (float)kter->first;
info[1] = ptf[0];
info[2] = ptf[1];
cter->second.first+=1;
}
value = 0; // free space
@@ -533,23 +509,6 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
// cannot rewrite on cells referred by more recent nodes
continue;
}
if(nodeId>0)
{
std::map<int, std::pair<int, int> >::iterator eter = cellCount_.find(nodeId);
UASSERT_MSG(eter != cellCount_.end(), uFormat("current pose=%d nodeId=%d", kter->first, nodeId).c_str());
if(value == 0)
{
eter->second.first -= 1;
}
else if(value == 100)
{
eter->second.second -= 1;
}
if(kter->first < 0)
{
eter->second.first += 1;
}
}
}
if(kter->first > 0)
{
@@ -557,7 +516,6 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
info[1] = float(i) * cellSize_ + xMin;
info[2] = float(j) * cellSize_ + yMin;
info[3] = logOddsClampingMin_;
cter->second.first+=1;
}
value = -2; // free space (footprint)
}
@@ -585,30 +543,12 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
// cannot rewrite on cells referred by more recent nodes
continue;
}
if(nodeId>0)
{
std::map<int, std::pair<int, int> >::iterator eter = cellCount_.find(nodeId);
UASSERT_MSG(eter != cellCount_.end(), uFormat("current pose=%d nodeId=%d", kter->first, nodeId).c_str());
if(value == 0)
{
eter->second.first -= 1;
}
else if(value == 100)
{
eter->second.second -= 1;
}
if(kter->first < 0)
{
eter->second.second += 1;
}
}
}
if(kter->first > 0)
{
info[0] = (float)kter->first;
info[1] = ptf[0];
info[2] = ptf[1];
cter->second.second+=1;
}
// update odds
@@ -651,20 +591,6 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
mapInfo_ = mapInfo;
minValues_[0] = xMin;
minValues_[1] = yMin;
// clean cellCount_
for(std::map<int, std::pair<int, int> >::iterator iter= cellCount_.begin(); iter!=cellCount_.end();)
{
UASSERT(iter->second.first >= 0 && iter->second.second >= 0);
if(iter->second.first == 0 && iter->second.second == 0)
{
cellCount_.erase(iter++);
}
else
{
++iter;
}
}
}
}
@@ -677,7 +603,6 @@ unsigned long OccupancyGrid::getMemoryUsed() const
memoryUsage += map_.total() * map_.elemSize();
memoryUsage += mapInfo_.total() * mapInfo_.elemSize();
memoryUsage += cellCount_.size()*(sizeof(int)*3 + sizeof(std::pair<int, int>) + sizeof(std::map<int, std::pair<int, int> >::iterator)) + sizeof(std::map<int, std::pair<int, int> >);
return memoryUsage;
}