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Remove unused argument. (#466)

master
Wolfgang Hess 2017-08-22 12:22:41 +02:00 committed by GitHub
parent ac693f3e04
commit 297e9cc02d
2 changed files with 10 additions and 11 deletions
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13
cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
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@ -75,8 +75,7 @@ void ConstraintBuilder::MaybeAddConstraint(
const int current_computation = current_computation_; const int current_computation = current_computation_;
ScheduleSubmapScanMatcherConstructionAndQueueWorkItem( ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
submap_id, submap_nodes, submap, [=]() EXCLUDES(mutex_) { submap_id, submap_nodes, submap, [=]() EXCLUDES(mutex_) {
ComputeConstraint(submap_id, submap, node_id, ComputeConstraint(submap_id, node_id, false, /* match_full_submap */
false, /* match_full_submap */
nullptr, /* trajectory_connectivity */ nullptr, /* trajectory_connectivity */
compressed_point_cloud, initial_pose, constraint); compressed_point_cloud, initial_pose, constraint);
FinishComputation(current_computation); FinishComputation(current_computation);
@ -98,10 +97,10 @@ void ConstraintBuilder::MaybeAddGlobalConstraint(
const int current_computation = current_computation_; const int current_computation = current_computation_;
ScheduleSubmapScanMatcherConstructionAndQueueWorkItem( ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
submap_id, submap_nodes, submap, [=]() EXCLUDES(mutex_) { submap_id, submap_nodes, submap, [=]() EXCLUDES(mutex_) {
ComputeConstraint( ComputeConstraint(submap_id, node_id, true, /* match_full_submap */
submap_id, submap, node_id, true, /* match_full_submap */
trajectory_connectivity, compressed_point_cloud, trajectory_connectivity, compressed_point_cloud,
transform::Rigid3d::Rotation(gravity_alignment), constraint); transform::Rigid3d::Rotation(gravity_alignment),
constraint);
FinishComputation(current_computation); FinishComputation(current_computation);
}); });
} }
@ -169,8 +168,8 @@ ConstraintBuilder::GetSubmapScanMatcher(const mapping::SubmapId& submap_id) {
} }
void ConstraintBuilder::ComputeConstraint( void ConstraintBuilder::ComputeConstraint(
const mapping::SubmapId& submap_id, const Submap* const submap, const mapping::SubmapId& submap_id, const mapping::NodeId& node_id,
const mapping::NodeId& node_id, bool match_full_submap, bool match_full_submap,
mapping::TrajectoryConnectivity* trajectory_connectivity, mapping::TrajectoryConnectivity* trajectory_connectivity,
const sensor::CompressedPointCloud* const compressed_point_cloud, const sensor::CompressedPointCloud* const compressed_point_cloud,
const transform::Rigid3d& initial_pose, const transform::Rigid3d& initial_pose,

6
cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
View File

@ -135,14 +135,14 @@ class ConstraintBuilder {
const mapping::SubmapId& submap_id) EXCLUDES(mutex_); const mapping::SubmapId& submap_id) EXCLUDES(mutex_);
// Runs in a background thread and does computations for an additional // Runs in a background thread and does computations for an additional
// constraint, assuming 'submap' and 'point_cloud' do not change anymore. // constraint.
// If 'match_full_submap' is true, and global localization succeeds, will // If 'match_full_submap' is true, and global localization succeeds, will
// connect 'node_id.trajectory_id' and 'submap_id.trajectory_id' in // connect 'node_id.trajectory_id' and 'submap_id.trajectory_id' in
// 'trajectory_connectivity'. // 'trajectory_connectivity'.
// As output, it may create a new Constraint in 'constraint'. // As output, it may create a new Constraint in 'constraint'.
void ComputeConstraint( void ComputeConstraint(
const mapping::SubmapId& submap_id, const Submap* submap, const mapping::SubmapId& submap_id, const mapping::NodeId& node_id,
const mapping::NodeId& node_id, bool match_full_submap, bool match_full_submap,
mapping::TrajectoryConnectivity* trajectory_connectivity, mapping::TrajectoryConnectivity* trajectory_connectivity,
const sensor::CompressedPointCloud* compressed_point_cloud, const sensor::CompressedPointCloud* compressed_point_cloud,
const transform::Rigid3d& initial_pose, const transform::Rigid3d& initial_pose,