From d2962c004fc1699d5ac61578106350c70ce10484 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Fri, 30 Sep 2016 16:00:10 +0200 Subject: [PATCH] Remove the 'also_match_to_new_submaps' option. (#29) Instead, using a different constraint_builder.sampling_ratio is preferred. --- .../mapping/proto/sparse_pose_graph_options.proto | 3 --- cartographer/mapping/sparse_pose_graph.cc | 2 -- cartographer/mapping_2d/sparse_pose_graph.cc | 8 +++----- cartographer/mapping_2d/sparse_pose_graph_test.cc | 1 - cartographer/mapping_3d/sparse_pose_graph.cc | 8 +++----- configuration_files/sparse_pose_graph.lua | 1 - 6 files changed, 6 insertions(+), 17 deletions(-) diff --git a/cartographer/mapping/proto/sparse_pose_graph_options.proto b/cartographer/mapping/proto/sparse_pose_graph_options.proto index 1289eba..4812bf0 100644 --- a/cartographer/mapping/proto/sparse_pose_graph_options.proto +++ b/cartographer/mapping/proto/sparse_pose_graph_options.proto @@ -24,9 +24,6 @@ message SparsePoseGraphOptions { // is built. 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. optional mapping.sparse_pose_graph.proto.ConstraintBuilderOptions constraint_builder_options = 3; diff --git a/cartographer/mapping/sparse_pose_graph.cc b/cartographer/mapping/sparse_pose_graph.cc index 1412ced..a9bd631 100644 --- a/cartographer/mapping/sparse_pose_graph.cc +++ b/cartographer/mapping/sparse_pose_graph.cc @@ -45,8 +45,6 @@ proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions( proto::SparsePoseGraphOptions options; options.set_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() = sparse_pose_graph::CreateConstraintBuilderOptions( parameter_dictionary->GetDictionary("constraint_builder").get()); diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc index 2e03f29..6522998 100644 --- a/cartographer/mapping_2d/sparse_pose_graph.cc +++ b/cartographer/mapping_2d/sparse_pose_graph.cc @@ -226,11 +226,9 @@ void SparsePoseGraph::ComputeConstraintsForScan( const int finished_submap_index = GetSubmapIndex(finished_submap); SubmapState& finished_submap_state = submap_states_[finished_submap_index]; 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 - // old scans. - ComputeConstraintsForOldScans(finished_submap); - } + // We have a new completed submap, so we look into adding constraints for + // old scans. + ComputeConstraintsForOldScans(finished_submap); finished_submap_state.finished = true; } constraint_builder_.NotifyEndOfScan(scan_index); diff --git a/cartographer/mapping_2d/sparse_pose_graph_test.cc b/cartographer/mapping_2d/sparse_pose_graph_test.cc index 8ebbe15..fd6be7a 100644 --- a/cartographer/mapping_2d/sparse_pose_graph_test.cc +++ b/cartographer/mapping_2d/sparse_pose_graph_test.cc @@ -68,7 +68,6 @@ class SparsePoseGraphTest : public ::testing::Test { auto parameter_dictionary = common::MakeDictionary(R"text( return { optimize_every_n_scans = 1000, - also_match_to_new_submaps = true, constraint_builder = { sampling_ratio = 1., max_constraint_distance = 6., diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc index ac39d05..b36b9df 100644 --- a/cartographer/mapping_3d/sparse_pose_graph.cc +++ b/cartographer/mapping_3d/sparse_pose_graph.cc @@ -234,11 +234,9 @@ void SparsePoseGraph::ComputeConstraintsForScan( const int finished_submap_index = GetSubmapIndex(finished_submap); SubmapState& finished_submap_state = submap_states_[finished_submap_index]; 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 - // old scans. - ComputeConstraintsForOldScans(finished_submap); - } + // We have a new completed submap, so we look into adding constraints for + // old scans. + ComputeConstraintsForOldScans(finished_submap); finished_submap_state.finished = true; } constraint_builder_.NotifyEndOfScan(scan_index); diff --git a/configuration_files/sparse_pose_graph.lua b/configuration_files/sparse_pose_graph.lua index 769d1d6..feb9193 100644 --- a/configuration_files/sparse_pose_graph.lua +++ b/configuration_files/sparse_pose_graph.lua @@ -14,7 +14,6 @@ SPARSE_POSE_GRAPH = { optimize_every_n_scans = 90, - also_match_to_new_submaps = true, constraint_builder = { sampling_ratio = 0.3, max_constraint_distance = 15.,