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Remove the 'also_match_to_new_submaps' option. (#29) 

Instead, using a different constraint_builder.sampling_ratio is preferred.
master
Wolfgang Hess 2016-09-30 16:00:10 +02:00 committed by GitHub
parent 092b020c15
commit d2962c004f
6 changed files with 6 additions and 17 deletions
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3
cartographer/mapping/proto/sparse_pose_graph_options.proto
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@ -24,9 +24,6 @@ message SparsePoseGraphOptions {
// is built. // is built.
optional int32 optimize_every_n_scans = 1; optional int32 optimize_every_n_scans = 1;
// If true, constraints between old scans and new submaps will be computed.
optional bool also_match_to_new_submaps = 2;
// Options for the constraint builder. // Options for the constraint builder.
optional mapping.sparse_pose_graph.proto.ConstraintBuilderOptions optional mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
constraint_builder_options = 3; constraint_builder_options = 3;

2
cartographer/mapping/sparse_pose_graph.cc
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@ -45,8 +45,6 @@ proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions(
proto::SparsePoseGraphOptions options; proto::SparsePoseGraphOptions options;
options.set_optimize_every_n_scans( options.set_optimize_every_n_scans(
parameter_dictionary->GetInt("optimize_every_n_scans")); parameter_dictionary->GetInt("optimize_every_n_scans"));
options.set_also_match_to_new_submaps(
parameter_dictionary->GetBool("also_match_to_new_submaps"));
*options.mutable_constraint_builder_options() = *options.mutable_constraint_builder_options() =
sparse_pose_graph::CreateConstraintBuilderOptions( sparse_pose_graph::CreateConstraintBuilderOptions(
parameter_dictionary->GetDictionary("constraint_builder").get()); parameter_dictionary->GetDictionary("constraint_builder").get());

8
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -226,11 +226,9 @@ void SparsePoseGraph::ComputeConstraintsForScan(
const int finished_submap_index = GetSubmapIndex(finished_submap); const int finished_submap_index = GetSubmapIndex(finished_submap);
SubmapState& finished_submap_state = submap_states_[finished_submap_index]; SubmapState& finished_submap_state = submap_states_[finished_submap_index];
CHECK(!finished_submap_state.finished); CHECK(!finished_submap_state.finished);
if (options_.also_match_to_new_submaps()) { // We have a new completed submap, so we look into adding constraints for
// We have a new completed submap, so we look into adding constraints for // old scans.
// old scans. ComputeConstraintsForOldScans(finished_submap);
ComputeConstraintsForOldScans(finished_submap);
}
finished_submap_state.finished = true; finished_submap_state.finished = true;
} }
constraint_builder_.NotifyEndOfScan(scan_index); constraint_builder_.NotifyEndOfScan(scan_index);

1
cartographer/mapping_2d/sparse_pose_graph_test.cc
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@ -68,7 +68,6 @@ class SparsePoseGraphTest : public ::testing::Test {
auto parameter_dictionary = common::MakeDictionary(R"text( auto parameter_dictionary = common::MakeDictionary(R"text(
return { return {
optimize_every_n_scans = 1000, optimize_every_n_scans = 1000,
also_match_to_new_submaps = true,
constraint_builder = { constraint_builder = {
sampling_ratio = 1., sampling_ratio = 1.,
max_constraint_distance = 6., max_constraint_distance = 6.,

8
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -234,11 +234,9 @@ void SparsePoseGraph::ComputeConstraintsForScan(
const int finished_submap_index = GetSubmapIndex(finished_submap); const int finished_submap_index = GetSubmapIndex(finished_submap);
SubmapState& finished_submap_state = submap_states_[finished_submap_index]; SubmapState& finished_submap_state = submap_states_[finished_submap_index];
CHECK(!finished_submap_state.finished); CHECK(!finished_submap_state.finished);
if (options_.also_match_to_new_submaps()) { // We have a new completed submap, so we look into adding constraints for
// We have a new completed submap, so we look into adding constraints for // old scans.
// old scans. ComputeConstraintsForOldScans(finished_submap);
ComputeConstraintsForOldScans(finished_submap);
}
finished_submap_state.finished = true; finished_submap_state.finished = true;
} }
constraint_builder_.NotifyEndOfScan(scan_index); constraint_builder_.NotifyEndOfScan(scan_index);

1
configuration_files/sparse_pose_graph.lua
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@ -14,7 +14,6 @@
SPARSE_POSE_GRAPH = { SPARSE_POSE_GRAPH = {
optimize_every_n_scans = 90, optimize_every_n_scans = 90,
also_match_to_new_submaps = true,
constraint_builder = { constraint_builder = {
sampling_ratio = 0.3, sampling_ratio = 0.3,
max_constraint_distance = 15., max_constraint_distance = 15.,