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Change num_submaps_in_trajectory to using trajectory IDs. (#277) 

Related to #256.
master
Holger Rapp 2017-05-11 14:32:55 +02:00 committed by GitHub
parent 7b1915b906
commit 1a9b18db69
4 changed files with 6 additions and 8 deletions
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4
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -118,8 +118,8 @@ void SparsePoseGraph::AddScan(
submap_states_.emplace_back();
submap_states_.back().submap = insertion_submaps.back();
submap_states_.back().id = mapping::SubmapId{
trajectory_id, num_submaps_in_trajectory_[trajectory]};
++num_submaps_in_trajectory_[trajectory];
trajectory_id, num_submaps_in_trajectory_[trajectory_id]};
++num_submaps_in_trajectory_[trajectory_id];
CHECK_EQ(submap_states_.size(), submap_indices_.size());
}
const mapping::Submap* const finished_submap =

3
cartographer/mapping_2d/sparse_pose_graph.h
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@ -198,8 +198,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// before they take part in the background computations.
std::map<const mapping::Submap*, int> submap_indices_ GUARDED_BY(mutex_);
std::vector<SubmapState> submap_states_ GUARDED_BY(mutex_);
std::map<const mapping::Submaps*, int> num_submaps_in_trajectory_
GUARDED_BY(mutex_);
std::map<int, int> num_submaps_in_trajectory_ GUARDED_BY(mutex_);
// Connectivity structure of our trajectories by IDs.
std::vector<std::vector<int>> connected_components_;

4
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -115,8 +115,8 @@ void SparsePoseGraph::AddScan(
submap_states_.emplace_back();
submap_states_.back().submap = insertion_submaps.back();
submap_states_.back().id = mapping::SubmapId{
trajectory_id, num_submaps_in_trajectory_[trajectory]};
++num_submaps_in_trajectory_[trajectory];
trajectory_id, num_submaps_in_trajectory_[trajectory_id]};
++num_submaps_in_trajectory_[trajectory_id];
CHECK_EQ(submap_states_.size(), submap_indices_.size());
}
const Submap* const finished_submap =

3
cartographer/mapping_3d/sparse_pose_graph.h
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@ -198,8 +198,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// before they take part in the background computations.
std::map<const mapping::Submap*, int> submap_indices_ GUARDED_BY(mutex_);
std::vector<SubmapState> submap_states_ GUARDED_BY(mutex_);
std::map<const mapping::Submaps*, int> num_submaps_in_trajectory_
GUARDED_BY(mutex_);
std::map<int, int> num_submaps_in_trajectory_ GUARDED_BY(mutex_);
// Connectivity structure of our trajectories by IDs.
std::vector<std::vector<int>> connected_components_;