12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Include all trajectory nodes when serializing without unfinished submaps. (#1410)

master
Michael Grupp 2018-09-05 16:59:16 +02:00 committed by Christoph Schütte
parent e318751329
commit a351a8e3b4
3 changed files with 2 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cartographer/mapping/internal/3d/pose_graph_3d_test.cc
View File

@ -174,7 +174,7 @@ TEST_F(PoseGraph3DTest, SerializationWithUnfinishedSubmaps) {
pose_graph_->ToProto(/*include_unfinished_submaps=*/false); pose_graph_->ToProto(/*include_unfinished_submaps=*/false);
EXPECT_EQ(actual_proto.constraint_size(), 2); EXPECT_EQ(actual_proto.constraint_size(), 2);
EXPECT_EQ(actual_proto.trajectory_size(), 1); EXPECT_EQ(actual_proto.trajectory_size(), 1);
EXPECT_EQ(actual_proto.trajectory(0).node_size(), 2); EXPECT_EQ(actual_proto.trajectory(0).node_size(), 3);
EXPECT_EQ(actual_proto.trajectory(0).submap_size(), 1); EXPECT_EQ(actual_proto.trajectory(0).submap_size(), 1);
EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals( EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
proto.constraint(0), actual_proto.constraint(0))); proto.constraint(0), actual_proto.constraint(0)));

5
cartographer/mapping/pose_graph.cc
View File

@ -190,11 +190,6 @@ proto::PoseGraph PoseGraph::ToProto(bool include_unfinished_submaps) const {
for (const auto& node_id_data : GetTrajectoryNodes()) { for (const auto& node_id_data : GetTrajectoryNodes()) {
proto::Trajectory* trajectory_proto = proto::Trajectory* trajectory_proto =
trajectory(node_id_data.id.trajectory_id); trajectory(node_id_data.id.trajectory_id);
if (!include_unfinished_submaps &&
orphaned_nodes.count(node_id_data.id) > 0) {
// Skip orphaned trajectory nodes.
continue;
}
CHECK(node_id_data.data.constant_data != nullptr); CHECK(node_id_data.data.constant_data != nullptr);
auto* const node_proto = trajectory_proto->add_node(); auto* const node_proto = trajectory_proto->add_node();
node_proto->set_node_index(node_id_data.id.node_index); node_proto->set_node_index(node_id_data.id.node_index);

2
cartographer/mapping/pose_graph_interface.h
View File

@ -141,7 +141,7 @@ class PoseGraphInterface {
virtual std::vector<Constraint> constraints() const = 0; virtual std::vector<Constraint> constraints() const = 0;
// Serializes the constraints and trajectories. If // Serializes the constraints and trajectories. If
// 'include_unfinished_submaps' is set to 'true', unfinished submps, i.e. // 'include_unfinished_submaps' is set to 'true', unfinished submaps, i.e.
// submaps that have not yet received all rangefinder data insertions, will // submaps that have not yet received all rangefinder data insertions, will
// be included, otherwise not. // be included, otherwise not.
virtual proto::PoseGraph ToProto(bool include_unfinished_submaps) const = 0; virtual proto::PoseGraph ToProto(bool include_unfinished_submaps) const = 0;