Follow https://github.com/googlecartographer/cartographer/pull/958. #754
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
cschuet
approved these changes
Mar 5, 2018
doronhi
pushed a commit
to doronhi/cartographer_ros
that referenced
this pull request
Nov 27, 2018
doronhi
pushed a commit
to doronhi/cartographer_ros
that referenced
this pull request
Nov 27, 2018
…apher-project#758) Repeat the change in cartographer-project#754 by @gaschler for 3D as well.
doronhi
pushed a commit
to doronhi/cartographer_ros
that referenced
this pull request
Nov 27, 2018
…r-project#729) I noticed that @jihoonl opened the PR cartographer-project#726 which performs a similar thing. As discussed in cartographer-project#613 (@cschuet has already taken a look), I pulled this out of cartographer-project#481 (a really old PR whose merging has been postponed), which is an example where re-running optimization is triggered from elsewhere as well (besides from `ComputeConstraintsForNode`). This refactoring makes libcartographer friendlier for use cases such as that one. An important detail is that I have changed the condition in `WaitForAllComputations` to also check if the work queue is empty. If there are other things on the worker queue besides `ComputeConstraintsForNode`, currently we will wrongfully conclude that all computations are done. (This detail was merged in cartographer-project#754, so it's no longer in the diff of this PR). Also missing is the same thing for 3D. I can add that when we settle on this. Also, I suggest that `run_loop_closure` gets renamed to `run_optimization`.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.