Use trajectory IDs for global samplers. (cartographer-project#278)

Related to cartographer-project#256. PAIR=SirVer
doronhi · May 11, 2017 · 32583e0 · 32583e0
1 parent 1a9b18d
commit 32583e0
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Showing 4 changed files with 8 additions and 10 deletions.
diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc
@@ -128,8 +128,8 @@ void SparsePoseGraph::AddScan(
           : nullptr;
 
   // Make sure we have a sampler for this trajectory.
-  if (!global_localization_samplers_[trajectory]) {
-    global_localization_samplers_[trajectory] =
+  if (!global_localization_samplers_[trajectory_id]) {
+    global_localization_samplers_[trajectory_id] =
         common::make_unique<common::FixedRatioSampler>(
             options_.global_sampling_ratio());
   }
@@ -178,7 +178,7 @@ void SparsePoseGraph::ComputeConstraint(const int scan_index,
 
   // Only globally match against submaps not in this trajectory.
   if (scan_trajectory_id != submap_trajectory_id &&
-      global_localization_samplers_[scan_trajectory]->Pulse()) {
+      global_localization_samplers_[scan_trajectory_id]->Pulse()) {
     constraint_builder_.MaybeAddGlobalConstraint(
         submap_id, submap_states_[submap_index].submap, scan_index,
         scan_trajectory_id, &trajectory_connectivity_,

diff --git a/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h
@@ -179,8 +179,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   mapping::TrajectoryConnectivity trajectory_connectivity_ GUARDED_BY(mutex_);
 
   // We globally localize a fraction of the scans from each trajectory.
-  std::unordered_map<const mapping::Submaps*,
-                     std::unique_ptr<common::FixedRatioSampler>>
+  std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>>
       global_localization_samplers_ GUARDED_BY(mutex_);
 
   // Number of scans added since last loop closure.

diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc
@@ -123,8 +123,8 @@ void SparsePoseGraph::AddScan(
       insertion_submaps.front()->finished ? insertion_submaps.front() : nullptr;
 
   // Make sure we have a sampler for this trajectory.
-  if (!global_localization_samplers_[trajectory]) {
-    global_localization_samplers_[trajectory] =
+  if (!global_localization_samplers_[trajectory_id]) {
+    global_localization_samplers_[trajectory_id] =
         common::make_unique<common::FixedRatioSampler>(
             options_.global_sampling_ratio());
   }
@@ -178,7 +178,7 @@ void SparsePoseGraph::ComputeConstraint(const int scan_index,
 
   // Only globally match against submaps not in this trajectory.
   if (scan_trajectory_id != submap_trajectory_id &&
-      global_localization_samplers_[scan_trajectory]->Pulse()) {
+      global_localization_samplers_[scan_trajectory_id]->Pulse()) {
     constraint_builder_.MaybeAddGlobalConstraint(
         submap_id, submap_states_[submap_index].submap, scan_index,
         scan_trajectory_id, &trajectory_connectivity_, trajectory_nodes_);

diff --git a/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h
@@ -179,8 +179,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   mapping::TrajectoryConnectivity trajectory_connectivity_ GUARDED_BY(mutex_);
 
   // We globally localize a fraction of the scans from each trajectory.
-  std::unordered_map<const mapping::Submaps*,
-                     std::unique_ptr<common::FixedRatioSampler>>
+  std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler>>
       global_localization_samplers_ GUARDED_BY(mutex_);
 
   // Number of scans added since last loop closure.