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cartographer/cartographer/mapping_3d/sparse_pose_graph.cc

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/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/mapping_3d/sparse_pose_graph.h"
#include <algorithm>
#include <cmath>
#include <cstdio>
#include <functional>
#include <iomanip>
#include <iostream>
#include <limits>
#include <memory>
#include <sstream>
#include <string>
#include "Eigen/Eigenvalues"
#include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h"
#include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
#include "cartographer/sensor/compressed_point_cloud.h"
#include "cartographer/sensor/voxel_filter.h"
#include "glog/logging.h"
namespace cartographer {
namespace mapping_3d {
SparsePoseGraph::SparsePoseGraph(
const mapping::proto::SparsePoseGraphOptions& options,
common::ThreadPool* thread_pool)
: options_(options),
optimization_problem_(options_.optimization_problem_options(),
sparse_pose_graph::OptimizationProblem::FixZ::kNo),
constraint_builder_(options_.constraint_builder_options(), thread_pool) {}
SparsePoseGraph::~SparsePoseGraph() {
WaitForAllComputations();
common::MutexLocker locker(&mutex_);
CHECK(scan_queue_ == nullptr);
}
std::vector<mapping::SubmapId> SparsePoseGraph::GrowSubmapTransformsAsNeeded(
const int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
CHECK(!insertion_submaps.empty());
const auto& submap_data = optimization_problem_.submap_data();
if (insertion_submaps.size() == 1) {
// If we don't already have an entry for the first submap, add one.
if (static_cast<size_t>(trajectory_id) >= submap_data.size() ||
submap_data[trajectory_id].empty()) {
optimization_problem_.AddSubmap(trajectory_id,
insertion_submaps[0]->local_pose());
}
const mapping::SubmapId submap_id{
trajectory_id, static_cast<int>(submap_data[trajectory_id].size()) - 1};
CHECK(submap_data_.at(submap_id).submap == insertion_submaps.front());
return {submap_id};
}
CHECK_EQ(2, insertion_submaps.size());
const mapping::SubmapId last_submap_id{
trajectory_id,
static_cast<int>(submap_data.at(trajectory_id).size() - 1)};
if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) {
// In this case, 'last_submap_id' is the ID of 'insertions_submaps.front()'
// and 'insertions_submaps.back()' is new.
const auto& first_submap_pose =
submap_data.at(trajectory_id).at(last_submap_id.submap_index).pose;
optimization_problem_.AddSubmap(
trajectory_id, first_submap_pose *
insertion_submaps[0]->local_pose().inverse() *
insertion_submaps[1]->local_pose());
return {last_submap_id,
mapping::SubmapId{trajectory_id, last_submap_id.submap_index + 1}};
}
CHECK(submap_data_.at(last_submap_id).submap == insertion_submaps.back());
const mapping::SubmapId front_submap_id{trajectory_id,
last_submap_id.submap_index - 1};
CHECK(submap_data_.at(front_submap_id).submap == insertion_submaps.front());
return {front_submap_id, last_submap_id};
}
void SparsePoseGraph::AddScan(
common::Time time, const sensor::RangeData& range_data_in_tracking,
const sensor::PointCloud& high_resolution_point_cloud,
const sensor::PointCloud& low_resolution_point_cloud,
const transform::Rigid3d& pose, const int trajectory_id,
const std::vector<std::shared_ptr<const Submap>>& insertion_submaps) {
const transform::Rigid3d optimized_pose(
GetLocalToGlobalTransform(trajectory_id) * pose);
common::MutexLocker locker(&mutex_);
trajectory_nodes_.Append(
trajectory_id, mapping::TrajectoryNode{
std::make_shared<const mapping::TrajectoryNode::Data>(
mapping::TrajectoryNode::Data{
time,
sensor::Compress(range_data_in_tracking),
{},
high_resolution_point_cloud,
low_resolution_point_cloud,
transform::Rigid3d::Identity()}),
optimized_pose});
++num_trajectory_nodes_;
trajectory_connectivity_.Add(trajectory_id);
// Test if the 'insertion_submap.back()' is one we never saw before.
if (trajectory_id >= submap_data_.num_trajectories() ||
submap_data_.num_indices(trajectory_id) == 0 ||
submap_data_
.at(mapping::SubmapId{
trajectory_id, submap_data_.num_indices(trajectory_id) - 1})
.submap != insertion_submaps.back()) {
// We grow 'submap_data_' as needed. This code assumes that the first
// time we see a new submap is as 'insertion_submaps.back()'.
const mapping::SubmapId submap_id =
submap_data_.Append(trajectory_id, SubmapData());
submap_data_.at(submap_id).submap = insertion_submaps.back();
}
// Make sure we have a sampler for this trajectory.
if (!global_localization_samplers_[trajectory_id]) {
global_localization_samplers_[trajectory_id] =
common::make_unique<common::FixedRatioSampler>(
options_.global_sampling_ratio());
}
// We have to check this here, because it might have changed by the time we
// execute the lambda.
const bool newly_finished_submap = insertion_submaps.front()->finished();
AddWorkItem([=]() REQUIRES(mutex_) {
ComputeConstraintsForScan(trajectory_id, insertion_submaps,
newly_finished_submap, pose);
});
}
void SparsePoseGraph::AddWorkItem(const std::function<void()>& work_item) {
if (scan_queue_ == nullptr) {
work_item();
} else {
scan_queue_->push_back(work_item);
}
}
void SparsePoseGraph::AddImuData(const int trajectory_id,
const sensor::ImuData& imu_data) {
common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddImuData(trajectory_id, imu_data);
});
}
void SparsePoseGraph::AddFixedFramePoseData(
const int trajectory_id,
const sensor::FixedFramePoseData& fixed_frame_pose_data) {
common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddFixedFramePoseData(trajectory_id,
fixed_frame_pose_data);
});
}
void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
const mapping::SubmapId& submap_id) {
CHECK(submap_data_.at(submap_id).state == SubmapState::kFinished);
const transform::Rigid3d inverse_submap_pose =
optimization_problem_.submap_data()
.at(submap_id.trajectory_id)
.at(submap_id.submap_index)
.pose.inverse();
const transform::Rigid3d initial_relative_pose =
inverse_submap_pose * optimization_problem_.node_data()
.at(node_id.trajectory_id)
.at(node_id.node_index)
.point_cloud_pose;
std::vector<mapping::TrajectoryNode> submap_nodes;
for (const mapping::NodeId& submap_node_id :
submap_data_.at(submap_id).node_ids) {
submap_nodes.push_back(mapping::TrajectoryNode{
trajectory_nodes_.at(submap_node_id).constant_data,
inverse_submap_pose * trajectory_nodes_.at(submap_node_id).pose});
}
// Only globally match against submaps not in this trajectory.
if (node_id.trajectory_id != submap_id.trajectory_id &&
global_localization_samplers_[node_id.trajectory_id]->Pulse()) {
// In this situation, 'initial_relative_pose' is:
//
// submap <- global map 2 <- global map 1 <- tracking
// (agreeing on gravity)
//
// Since they possibly came from two disconnected trajectories, the only
// guaranteed connection between the tracking and the submap frames is
// an agreement on the direction of gravity. Therefore, excluding yaw,
// 'initial_relative_pose.rotation()' is a good estimate of the relative
// orientation of the point cloud in the submap frame. Finding the correct
// yaw component will be handled by the matching procedure in the
// FastCorrelativeScanMatcher, and the given yaw is essentially ignored.
constraint_builder_.MaybeAddGlobalConstraint(
submap_id, submap_data_.at(submap_id).submap.get(), node_id,
trajectory_nodes_.at(node_id).constant_data.get(), submap_nodes,
initial_relative_pose.rotation(), &trajectory_connectivity_);
} else {
const bool scan_and_submap_trajectories_connected =
reverse_connected_components_.count(node_id.trajectory_id) > 0 &&
reverse_connected_components_.count(submap_id.trajectory_id) > 0 &&
reverse_connected_components_.at(node_id.trajectory_id) ==
reverse_connected_components_.at(submap_id.trajectory_id);
if (node_id.trajectory_id == submap_id.trajectory_id ||
scan_and_submap_trajectories_connected) {
constraint_builder_.MaybeAddConstraint(
submap_id, submap_data_.at(submap_id).submap.get(), node_id,
trajectory_nodes_.at(node_id).constant_data.get(), submap_nodes,
initial_relative_pose);
}
}
}
void SparsePoseGraph::ComputeConstraintsForOldScans(
const mapping::SubmapId& submap_id) {
const auto& submap_data = submap_data_.at(submap_id);
const auto& node_data = optimization_problem_.node_data();
for (size_t trajectory_id = 0; trajectory_id != node_data.size();
++trajectory_id) {
for (size_t node_index = 0; node_index != node_data[trajectory_id].size();
++node_index) {
const mapping::NodeId node_id{static_cast<int>(trajectory_id),
static_cast<int>(node_index)};
if (submap_data.node_ids.count(node_id) == 0) {
ComputeConstraint(node_id, submap_id);
}
}
}
}
void SparsePoseGraph::ComputeConstraintsForScan(
const int trajectory_id,
std::vector<std::shared_ptr<const Submap>> insertion_submaps,
const bool newly_finished_submap, const transform::Rigid3d& pose) {
const std::vector<mapping::SubmapId> submap_ids =
GrowSubmapTransformsAsNeeded(trajectory_id, insertion_submaps);
CHECK_EQ(submap_ids.size(), insertion_submaps.size());
const mapping::SubmapId matching_id = submap_ids.front();
const transform::Rigid3d optimized_pose =
optimization_problem_.submap_data()
.at(matching_id.trajectory_id)
.at(matching_id.submap_index)
.pose *
insertion_submaps.front()->local_pose().inverse() * pose;
const mapping::NodeId node_id{
matching_id.trajectory_id,
static_cast<size_t>(matching_id.trajectory_id) <
optimization_problem_.node_data().size()
? static_cast<int>(optimization_problem_.node_data()
.at(matching_id.trajectory_id)
.size())
: 0};
const auto& scan_data = trajectory_nodes_.at(node_id).constant_data;
optimization_problem_.AddTrajectoryNode(matching_id.trajectory_id,
scan_data->time, optimized_pose);
for (size_t i = 0; i < insertion_submaps.size(); ++i) {
const mapping::SubmapId submap_id = submap_ids[i];
// Even if this was the last scan added to 'submap_id', the submap will only
// be marked as finished in 'submap_data_' further below.
CHECK(submap_data_.at(submap_id).state == SubmapState::kActive);
submap_data_.at(submap_id).node_ids.emplace(node_id);
const transform::Rigid3d constraint_transform =
insertion_submaps[i]->local_pose().inverse() * pose;
constraints_.push_back(
Constraint{submap_id,
node_id,
{constraint_transform, options_.matcher_translation_weight(),
options_.matcher_rotation_weight()},
Constraint::INTRA_SUBMAP});
}
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
for (int submap_index = 0;
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
const mapping::SubmapId submap_id{trajectory_id, submap_index};
if (submap_data_.at(submap_id).state == SubmapState::kFinished) {
CHECK_EQ(submap_data_.at(submap_id).node_ids.count(node_id), 0);
ComputeConstraint(node_id, submap_id);
}
}
}
if (newly_finished_submap) {
const mapping::SubmapId finished_submap_id = submap_ids.front();
SubmapData& finished_submap_data = submap_data_.at(finished_submap_id);
CHECK(finished_submap_data.state == SubmapState::kActive);
finished_submap_data.state = SubmapState::kFinished;
// We have a new completed submap, so we look into adding constraints for
// old scans.
ComputeConstraintsForOldScans(finished_submap_id);
}
constraint_builder_.NotifyEndOfScan();
++num_scans_since_last_loop_closure_;
if (options_.optimize_every_n_scans() > 0 &&
num_scans_since_last_loop_closure_ > options_.optimize_every_n_scans()) {
CHECK(!run_loop_closure_);
run_loop_closure_ = true;
// If there is a 'scan_queue_' already, some other thread will take care.
if (scan_queue_ == nullptr) {
scan_queue_ = common::make_unique<std::deque<std::function<void()>>>();
HandleScanQueue();
}
}
}
void SparsePoseGraph::HandleScanQueue() {
constraint_builder_.WhenDone(
[this](const sparse_pose_graph::ConstraintBuilder::Result& result) {
{
common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end());
}
RunOptimization();
common::MutexLocker locker(&mutex_);
num_scans_since_last_loop_closure_ = 0;
run_loop_closure_ = false;
while (!run_loop_closure_) {
if (scan_queue_->empty()) {
LOG(INFO) << "We caught up. Hooray!";
scan_queue_.reset();
return;
}
scan_queue_->front()();
scan_queue_->pop_front();
}
// We have to optimize again.
HandleScanQueue();
});
}
void SparsePoseGraph::WaitForAllComputations() {
bool notification = false;
common::MutexLocker locker(&mutex_);
const int num_finished_scans_at_start =
constraint_builder_.GetNumFinishedScans();
while (!locker.AwaitWithTimeout(
[this]() REQUIRES(mutex_) {
return constraint_builder_.GetNumFinishedScans() ==
num_trajectory_nodes_;
},
common::FromSeconds(1.))) {
std::ostringstream progress_info;
progress_info << "Optimizing: " << std::fixed << std::setprecision(1)
<< 100. *
(constraint_builder_.GetNumFinishedScans() -
num_finished_scans_at_start) /
(num_trajectory_nodes_ - num_finished_scans_at_start)
<< "%...";
std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
}
std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
constraint_builder_.WhenDone(
[this, &notification](
const sparse_pose_graph::ConstraintBuilder::Result& result) {
common::MutexLocker locker(&mutex_);
constraints_.insert(constraints_.end(), result.begin(), result.end());
notification = true;
});
locker.Await([&notification]() { return notification; });
}
void SparsePoseGraph::FreezeTrajectory(const int trajectory_id) {
common::MutexLocker locker(&mutex_);
AddWorkItem([this, trajectory_id]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(trajectory_id), 0);
frozen_trajectories_.insert(trajectory_id);
});
}
void SparsePoseGraph::AddSubmapFromProto(const int trajectory_id,
const transform::Rigid3d& initial_pose,
const mapping::proto::Submap& submap) {
if (!submap.has_submap_3d()) {
return;
}
std::shared_ptr<const Submap> submap_ptr =
std::make_shared<const Submap>(submap.submap_3d());
common::MutexLocker locker(&mutex_);
const mapping::SubmapId submap_id =
submap_data_.Append(trajectory_id, SubmapData());
submap_data_.at(submap_id).submap = submap_ptr;
// Immediately show the submap at the optimized pose.
CHECK_GE(static_cast<size_t>(submap_data_.num_trajectories()),
optimized_submap_transforms_.size());
optimized_submap_transforms_.resize(submap_data_.num_trajectories());
CHECK_EQ(optimized_submap_transforms_.at(trajectory_id).size(),
submap_id.submap_index);
optimized_submap_transforms_.at(trajectory_id)
.push_back(sparse_pose_graph::SubmapData{initial_pose});
AddWorkItem([this, submap_id, initial_pose]() REQUIRES(mutex_) {
CHECK_EQ(frozen_trajectories_.count(submap_id.trajectory_id), 1);
submap_data_.at(submap_id).state = SubmapState::kFinished;
optimization_problem_.AddSubmap(submap_id.trajectory_id, initial_pose);
});
}
void SparsePoseGraph::AddTrimmer(
std::unique_ptr<mapping::PoseGraphTrimmer> trimmer) {
common::MutexLocker locker(&mutex_);
// C++11 does not allow us to move a unique_ptr into a lambda.
mapping::PoseGraphTrimmer* const trimmer_ptr = trimmer.release();
AddWorkItem([this, trimmer_ptr]()
REQUIRES(mutex_) { trimmers_.emplace_back(trimmer_ptr); });
}
void SparsePoseGraph::RunFinalOptimization() {
WaitForAllComputations();
optimization_problem_.SetMaxNumIterations(
options_.max_num_final_iterations());
RunOptimization();
optimization_problem_.SetMaxNumIterations(
options_.optimization_problem_options()
.ceres_solver_options()
.max_num_iterations());
}
void SparsePoseGraph::LogResidualHistograms() {
common::Histogram rotational_residual;
common::Histogram translational_residual;
for (const Constraint& constraint : constraints_) {
if (constraint.tag == Constraint::Tag::INTRA_SUBMAP) {
const cartographer::transform::Rigid3d optimized_node_to_map =
trajectory_nodes_.at(constraint.node_id).pose;
const cartographer::transform::Rigid3d node_to_submap_constraint =
constraint.pose.zbar_ij;
const cartographer::transform::Rigid3d optimized_submap_to_map =
optimized_submap_transforms_.at(constraint.submap_id.trajectory_id)
.at(constraint.submap_id.submap_index)
.pose;
const cartographer::transform::Rigid3d optimized_node_to_submap =
optimized_submap_to_map.inverse() * optimized_node_to_map;
const cartographer::transform::Rigid3d residual =
node_to_submap_constraint.inverse() * optimized_node_to_submap;
rotational_residual.Add(
common::NormalizeAngleDifference(transform::GetAngle(residual)));
translational_residual.Add(residual.translation().norm());
}
}
LOG(INFO) << "Translational residuals histogram:\n"
<< translational_residual.ToString(10);
LOG(INFO) << "Rotational residuals histogram:\n"
<< rotational_residual.ToString(10);
}
void SparsePoseGraph::RunOptimization() {
if (optimization_problem_.submap_data().empty()) {
return;
}
// No other thread is accessing the optimization_problem_, constraints_ and
// frozen_trajectories_ when executing the Solve. Solve is time consuming, so
// not taking the mutex before Solve to avoid blocking foreground processing.
optimization_problem_.Solve(constraints_, frozen_trajectories_);
common::MutexLocker locker(&mutex_);
const auto& node_data = optimization_problem_.node_data();
for (int trajectory_id = 0;
trajectory_id != static_cast<int>(node_data.size()); ++trajectory_id) {
int node_index = 0;
const int num_nodes = trajectory_nodes_.num_indices(trajectory_id);
for (; node_index != static_cast<int>(node_data[trajectory_id].size());
++node_index) {
const mapping::NodeId node_id{trajectory_id, node_index};
trajectory_nodes_.at(node_id).pose =
node_data[trajectory_id][node_index].point_cloud_pose;
}
// Extrapolate all point cloud poses that were added later.
const auto local_to_new_global = ComputeLocalToGlobalTransform(
optimization_problem_.submap_data(), trajectory_id);
const auto local_to_old_global = ComputeLocalToGlobalTransform(
optimized_submap_transforms_, trajectory_id);
const transform::Rigid3d old_global_to_new_global =
local_to_new_global * local_to_old_global.inverse();
for (; node_index < num_nodes; ++node_index) {
const mapping::NodeId node_id{trajectory_id, node_index};
trajectory_nodes_.at(node_id).pose =
old_global_to_new_global * trajectory_nodes_.at(node_id).pose;
}
}
optimized_submap_transforms_ = optimization_problem_.submap_data();
connected_components_ = trajectory_connectivity_.ConnectedComponents();
reverse_connected_components_.clear();
for (size_t i = 0; i != connected_components_.size(); ++i) {
for (const int trajectory_id : connected_components_[i]) {
reverse_connected_components_.emplace(trajectory_id, i);
}
}
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();
}
}
std::vector<std::vector<mapping::TrajectoryNode>>
SparsePoseGraph::GetTrajectoryNodes() {
common::MutexLocker locker(&mutex_);
return trajectory_nodes_.data();
}
std::vector<SparsePoseGraph::Constraint> SparsePoseGraph::constraints() {
common::MutexLocker locker(&mutex_);
return constraints_;
}
transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
const int trajectory_id) {
common::MutexLocker locker(&mutex_);
return ComputeLocalToGlobalTransform(optimized_submap_transforms_,
trajectory_id);
}
std::vector<std::vector<int>> SparsePoseGraph::GetConnectedTrajectories() {
common::MutexLocker locker(&mutex_);
return connected_components_;
}
int SparsePoseGraph::num_submaps(const int trajectory_id) {
common::MutexLocker locker(&mutex_);
if (trajectory_id >= submap_data_.num_trajectories()) {
return 0;
}
return submap_data_.num_indices(trajectory_id);
}
mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapData(
const mapping::SubmapId& submap_id) {
common::MutexLocker locker(&mutex_);
return GetSubmapDataUnderLock(submap_id);
}
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
SparsePoseGraph::GetAllSubmapData() {
common::MutexLocker locker(&mutex_);
std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>>
all_submap_data(submap_data_.num_trajectories());
for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories();
++trajectory_id) {
all_submap_data[trajectory_id].reserve(
submap_data_.num_indices(trajectory_id));
for (int submap_index = 0;
submap_index < submap_data_.num_indices(trajectory_id);
++submap_index) {
all_submap_data[trajectory_id].emplace_back(GetSubmapDataUnderLock(
mapping::SubmapId{trajectory_id, submap_index}));
}
}
return all_submap_data;
}
transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
const std::vector<std::vector<sparse_pose_graph::SubmapData>>&
submap_transforms,
const int trajectory_id) const {
if (trajectory_id >= static_cast<int>(submap_transforms.size()) ||
submap_transforms.at(trajectory_id).empty()) {
return transform::Rigid3d::Identity();
}
const mapping::SubmapId last_optimized_submap_id{
trajectory_id,
static_cast<int>(submap_transforms.at(trajectory_id).size() - 1)};
// Accessing 'local_pose' in Submap is okay, since the member is const.
return submap_transforms.at(trajectory_id).back().pose *
submap_data_.at(last_optimized_submap_id)
.submap->local_pose()
.inverse();
}
mapping::SparsePoseGraph::SubmapData SparsePoseGraph::GetSubmapDataUnderLock(
const mapping::SubmapId& submap_id) {
auto submap = submap_data_.at(submap_id).submap;
// We already have an optimized pose.
if (submap_id.trajectory_id <
static_cast<int>(optimized_submap_transforms_.size()) &&
submap_id.submap_index < static_cast<int>(optimized_submap_transforms_
.at(submap_id.trajectory_id)
.size())) {
return {submap, optimized_submap_transforms_.at(submap_id.trajectory_id)
.at(submap_id.submap_index)
.pose};
}
// We have to extrapolate.
return {submap, ComputeLocalToGlobalTransform(optimized_submap_transforms_,
submap_id.trajectory_id) *
submap->local_pose()};
}
SparsePoseGraph::TrimmingHandle::TrimmingHandle(SparsePoseGraph* const parent)
: parent_(parent) {}
int SparsePoseGraph::TrimmingHandle::num_submaps(
const int trajectory_id) const {
LOG(FATAL) << "Not yet implemented for 3D.";
}
void SparsePoseGraph::TrimmingHandle::MarkSubmapAsTrimmed(
const mapping::SubmapId& submap_id) {
LOG(FATAL) << "Not yet implemented for 3D.";
}
} // namespace mapping_3d
} // namespace cartographer
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