From 1a9b18db6982c8875767ee39e5387b076c223a79 Mon Sep 17 00:00:00 2001 From: Holger Rapp Date: Thu, 11 May 2017 14:32:55 +0200 Subject: [PATCH] Change num_submaps_in_trajectory to using trajectory IDs. (#277) Related to #256. --- cartographer/mapping_2d/sparse_pose_graph.cc | 4 ++-- cartographer/mapping_2d/sparse_pose_graph.h | 3 +-- cartographer/mapping_3d/sparse_pose_graph.cc | 4 ++-- cartographer/mapping_3d/sparse_pose_graph.h | 3 +-- 4 files changed, 6 insertions(+), 8 deletions(-) diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc index 6211d8e..8263704 100644 --- a/cartographer/mapping_2d/sparse_pose_graph.cc +++ b/cartographer/mapping_2d/sparse_pose_graph.cc @@ -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 = diff --git a/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h index 549767c..48c78a2 100644 --- a/cartographer/mapping_2d/sparse_pose_graph.h +++ b/cartographer/mapping_2d/sparse_pose_graph.h @@ -198,8 +198,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { // before they take part in the background computations. std::map submap_indices_ GUARDED_BY(mutex_); std::vector submap_states_ GUARDED_BY(mutex_); - std::map num_submaps_in_trajectory_ - GUARDED_BY(mutex_); + std::map num_submaps_in_trajectory_ GUARDED_BY(mutex_); // Connectivity structure of our trajectories by IDs. std::vector> connected_components_; diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc index 4f69078..40dcad6 100644 --- a/cartographer/mapping_3d/sparse_pose_graph.cc +++ b/cartographer/mapping_3d/sparse_pose_graph.cc @@ -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 = diff --git a/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h index 3bddd63..274fc29 100644 --- a/cartographer/mapping_3d/sparse_pose_graph.h +++ b/cartographer/mapping_3d/sparse_pose_graph.h @@ -198,8 +198,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph { // before they take part in the background computations. std::map submap_indices_ GUARDED_BY(mutex_); std::vector submap_states_ GUARDED_BY(mutex_); - std::map num_submaps_in_trajectory_ - GUARDED_BY(mutex_); + std::map num_submaps_in_trajectory_ GUARDED_BY(mutex_); // Connectivity structure of our trajectories by IDs. std::vector> connected_components_;