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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.
Apache License 2.0
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use landmark cpu high stack backend optimization #1837

Closed shamengjun closed 3 years ago

shamengjun commented 3 years ago

Hello, everyone: I use cartographer in mapping with configure use_landmark = true(according this link's method publish landmarks data [https://github.com/cartographer-project/cartographer_ros/issues/1067] ) and has overlapping trimmer, but when the program run some time , when I find CPU has over 100% (before this cpu is around 20%， optimization and overlapping is normally running), get the cartographer_node pid and use pstack tool I find this stack in optimization_problem_2d.cc AddLandmarkCostFunctions() and optimization and overlapping trimmer is also stuck, but pose graph is normally insert new submaps. I don't know why this and how to solve this? Can anyone has any idea about this?@pifon2a

shamengjun commented 3 years ago

This problem has solved, after my debug, the program stuck in infinite cycle when execute this code, auto next = node_data.lower_bound(observation.trajectory_id, observation.time), binary search right = lower_bound_middle is constant , this maybe causes by overlapping trimmmer trim some trajectory node data.