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Fix crash in localization. (#526) 

Updating the connectivity needs the data of nodes for which
constraints were added, so we postpone trimming to after the
connectivity update.

Also makes sure the mutex is held as necessary.
master
Wolfgang Hess 2017-09-13 14:08:32 +02:00 committed by GitHub
parent 57d53b6d53
commit 5ade042520
4 changed files with 18 additions and 14 deletions
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13
cartographer/mapping_2d/sparse_pose_graph.cc
View File

@ -305,6 +305,7 @@ void SparsePoseGraph::UpdateTrajectoryConnectivity(
for (const Constraint& constraint : result) {
CHECK_EQ(constraint.tag,
mapping::SparsePoseGraph::Constraint::INTER_SUBMAP);
CHECK(trajectory_nodes_.at(constraint.node_id).constant_data != nullptr);
common::Time time =
trajectory_nodes_.at(constraint.node_id).constant_data->time;
const SubmapData& submap_data = submap_data_.at(constraint.submap_id);
@ -328,9 +329,14 @@ void SparsePoseGraph::HandleWorkQueue() {
constraints_.insert(constraints_.end(), result.begin(), result.end());
}
RunOptimization();
UpdateTrajectoryConnectivity(result);
common::MutexLocker locker(&mutex_);
UpdateTrajectoryConnectivity(result);
TrimmingHandle trimming_handle(this);
for (auto& trimmer : trimmers_) {
trimmer->Trim(&trimming_handle);
}
num_scans_since_last_loop_closure_ = 0;
run_loop_closure_ = false;
while (!run_loop_closure_) {
@ -479,11 +485,6 @@ void SparsePoseGraph::RunOptimization() {
}
}
optimized_submap_transforms_ = submap_data;
TrimmingHandle trimming_handle(this);
for (auto& trimmer : trimmers_) {
trimmer->Trim(&trimming_handle);
}
}
std::vector<std::vector<mapping::TrajectoryNode>>

3
cartographer/mapping_2d/sparse_pose_graph.h
View File

@ -155,7 +155,8 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// Updates the trajectory connectivity structure with the new constraints.
void UpdateTrajectoryConnectivity(
const sparse_pose_graph::ConstraintBuilder::Result& result);
const sparse_pose_graph::ConstraintBuilder::Result& result)
REQUIRES(mutex_);
// Computes the local to global frame transform based on the given optimized
// 'submap_transforms'.

13
cartographer/mapping_3d/sparse_pose_graph.cc
View File

@ -325,6 +325,7 @@ void SparsePoseGraph::UpdateTrajectoryConnectivity(
for (const Constraint& constraint : result) {
CHECK_EQ(constraint.tag,
mapping::SparsePoseGraph::Constraint::INTER_SUBMAP);
CHECK(trajectory_nodes_.at(constraint.node_id).constant_data != nullptr);
common::Time time =
trajectory_nodes_.at(constraint.node_id).constant_data->time;
const SubmapData& submap_data = submap_data_.at(constraint.submap_id);
@ -348,9 +349,14 @@ void SparsePoseGraph::HandleWorkQueue() {
constraints_.insert(constraints_.end(), result.begin(), result.end());
}
RunOptimization();
UpdateTrajectoryConnectivity(result);
common::MutexLocker locker(&mutex_);
UpdateTrajectoryConnectivity(result);
TrimmingHandle trimming_handle(this);
for (auto& trimmer : trimmers_) {
trimmer->Trim(&trimming_handle);
}
num_scans_since_last_loop_closure_ = 0;
run_loop_closure_ = false;
while (!run_loop_closure_) {
@ -526,11 +532,6 @@ void SparsePoseGraph::RunOptimization() {
}
optimized_submap_transforms_ = submap_data;
TrimmingHandle trimming_handle(this);
for (auto& trimmer : trimmers_) {
trimmer->Trim(&trimming_handle);
}
// Log the histograms for the pose residuals.
if (options_.log_residual_histograms()) {
LogResidualHistograms();

3
cartographer/mapping_3d/sparse_pose_graph.h
View File

@ -170,7 +170,8 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// Updates the trajectory connectivity structure with the new constraints.
void UpdateTrajectoryConnectivity(
const sparse_pose_graph::ConstraintBuilder::Result& result);
const sparse_pose_graph::ConstraintBuilder::Result& result)
REQUIRES(mutex_);
const mapping::proto::SparsePoseGraphOptions options_;
common::Mutex mutex_;