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

Track googlecartographer/cartographer#290. (#340) 

PAIR=wohe
master
Holger Rapp 2017-05-16 15:07:31 +02:00 committed by Wolfgang Hess
parent 227e46c285
commit 4cd812d806
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
cartographer_ros/cartographer_ros/map_builder_bridge.cc
View File

@ -112,10 +112,10 @@ cartographer_ros_msgs::SubmapList MapBuilderBridge::GetSubmapList() {
for (int trajectory_id = 0; for (int trajectory_id = 0;
trajectory_id < map_builder_.num_trajectory_builders(); trajectory_id < map_builder_.num_trajectory_builders();
++trajectory_id) { ++trajectory_id) {
const std::vector<cartographer::transform::Rigid3d> submap_transforms =
map_builder_.sparse_pose_graph()->GetSubmapTransforms(trajectory_id);
const cartographer::mapping::Submaps* submaps = const cartographer::mapping::Submaps* submaps =
map_builder_.GetTrajectoryBuilder(trajectory_id)->submaps(); map_builder_.GetTrajectoryBuilder(trajectory_id)->submaps();
const std::vector<cartographer::transform::Rigid3d> submap_transforms =
map_builder_.sparse_pose_graph()->GetSubmapTransforms(submaps);
CHECK_LE(submap_transforms.size(), submaps->size()); CHECK_LE(submap_transforms.size(), submaps->size());
cartographer_ros_msgs::TrajectorySubmapList trajectory_submap_list; cartographer_ros_msgs::TrajectorySubmapList trajectory_submap_list;
@ -172,7 +172,7 @@ MapBuilderBridge::GetTrajectoryStates() {
trajectory_states[trajectory_id] = { trajectory_states[trajectory_id] = {
pose_estimate, pose_estimate,
map_builder_.sparse_pose_graph()->GetLocalToGlobalTransform( map_builder_.sparse_pose_graph()->GetLocalToGlobalTransform(
trajectory_builder->submaps()), trajectory_id),
sensor_bridge.tf_bridge().LookupToTracking(pose_estimate.time, sensor_bridge.tf_bridge().LookupToTracking(pose_estimate.time,
options_.published_frame)}; options_.published_frame)};
} }