Delete SubmapData from trimmed submaps in the OptimizationProblem. #366
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wohe
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Jun 27, 2017
| @@ -163,7 +171,9 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints) { | |||
| ? new ceres::HuberLoss(options_.huber_scale()) | |||
| : nullptr, | |||
| C_submaps.at(constraint.submap_id.trajectory_id) | |||
| .at(constraint.submap_id.submap_index) | |||
| .at(constraint.submap_id.submap_index - | |||
| trajectory_data_.at(constraint.node_id.trajectory_id) | |||
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constraint.submap_id.trajectory_id otherwise multi-trajectory will not work correctly.
| auto& trajectory_data = trajectory_data_.at(submap_id.trajectory_id); | ||
| // We only allow trimming from the start. | ||
| CHECK_EQ(trajectory_data.num_trimmed_submaps, submap_id.submap_index); | ||
| submap_data_.at(submap_id.trajectory_id).pop_front(); |
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Similar to nodes: Extract submap_data and CHECK for non-empty?
| @@ -199,7 +200,8 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { | |||
| int num_trajectory_nodes_ GUARDED_BY(mutex_) = 0; | |||
|
|
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| // Current submap transforms used for displaying data. | |||
| std::vector<std::vector<sparse_pose_graph::SubmapData>> | |||
| std::vector<int> num_trimmed_submaps_at_last_optimization_; | |||
| @@ -402,10 +410,14 @@ void SparsePoseGraph::RunOptimization() { | |||
| node_data[trajectory_id][node_data_index].point_cloud_pose); | |||
| } | |||
| // Extrapolate all point cloud poses that were added later. | |||
| const auto local_to_new_global = ComputeLocalToGlobalTransform( | |||
| optimization_problem_.submap_data(), trajectory_id); | |||
| num_trimmed_submaps.push_back( | |||
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Make a separate loop over the trajectories in submap_data()?
SirVer
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wohe
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| .at(submap_id.submap_index) | ||
| .pose)}; | ||
| static_cast<int>(optimized_submap_transforms_.size())) { | ||
| const size_t submap_index = |
| @@ -511,18 +532,23 @@ mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapDataUnderLock( | |||
| auto submap = submap_data_.at(submap_id).submap; | |||
| // We already have an optimized pose. | |||
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wohe
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Jun 28, 2017
damienrg
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Nov 8, 2017
Rviz has a limit of 16384 points per marker. To get around this, each trajectory is split into multiple markers, each up to 16384 points. Fixes cartographer-project#366.
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Related to #283.