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Pose graph: do not mark all submaps finished when finalizing a trajectory. (#784) 

I think this was a mistake in #563 (@jihoonl). Not all submaps should be marked as finished, only those pertaining to the trajectory being finalized.
master
Juraj Oršulić 2018-01-04 10:11:28 +01:00 committed by Wally B. Feed
parent dbb3f7cde4
commit 9ee65293d2
2 changed files with 4 additions and 6 deletions
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5
cartographer/mapping_2d/pose_graph.cc
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@ -381,9 +381,8 @@ void PoseGraph::FinishTrajectory(const int trajectory_id) {
CHECK_EQ(finished_trajectories_.count(trajectory_id), 0);
finished_trajectories_.insert(trajectory_id);
auto submap_data = optimization_problem_.submap_data();
for (auto submap_id_data : submap_data) {
submap_data_.at(submap_id_data.id).state = SubmapState::kFinished;
for (const auto& submap : submap_data_.trajectory(trajectory_id)) {
submap_data_.at(submap.id).state = SubmapState::kFinished;
}
// TODO(jihoonl): Refactor HandleWorkQueue() logic from
// ComputeConstraintsForNode and call from here

5
cartographer/mapping_3d/pose_graph.cc
View File

@ -398,9 +398,8 @@ void PoseGraph::FinishTrajectory(const int trajectory_id) {
CHECK_EQ(finished_trajectories_.count(trajectory_id), 0);
finished_trajectories_.insert(trajectory_id);
auto submap_data = optimization_problem_.submap_data();
for (auto submap_id_data : submap_data) {
submap_data_.at(submap_id_data.id).state = SubmapState::kFinished;
for (const auto& submap : submap_data_.trajectory(trajectory_id)) {
submap_data_.at(submap.id).state = SubmapState::kFinished;
}
// TODO(jihoonl): Refactor HandleWorkQueue() logic from
// ComputeConstraintsForNode and call from here