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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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Not possible to use IMU based extrapolator #1803

Closed kfabian closed 3 years ago

kfabian commented 3 years ago

Hi all, I tried to use the IMU based extrapolator. But I get a "Not implemented!" error. It looks like this error still gets thrown if you set the option to true, even so the implementation was added in the mean time. Is this the intended behavior?

https://github.com/cartographer-project/cartographer/blob/018dded2f9a0adb7e77003d05662ada251b541f5/cartographer/mapping/pose_extrapolator_interface.cc#L87-L92

Thanks

MichaelGrupp commented 3 years ago

@wohe @schwoere From a quick look, this looks like an unnoticed bug in PR #1732 to me because the extrapolator is implemented but it's unreachable code. Can you clarify this?

wohe commented 3 years ago

@kfabian @MichaelGrupp You are right, this is not the intended behavior. I sent a PR to fix it. Note though, that the IMU based extrapolator probably needs some testing/tuning to make it useful.

schwoere commented 3 years ago

@kfabian As indicated by @wohe, I believe the plan was to remove the CHECK once good parameters for the official datasets were found. Anyway, the implementation itself is complete and was tested with the 3D version of cartographer, so we can remove the CHECK (thanks @wohe for fixing). Also see TODO in #1732 (https://github.com/cartographer-project/cartographer/pull/1732/files#diff-8d181dbe7716a2ccbf024b6eebc0c8c2ed0bfc3cbe18a2fc151dcdd3ae21195bR72) for the parameter tuning.