Fixed wheel odometry for submapping when the root vertex changes

ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework

https://maplab.asl.ethz.ch

Apache License 2.0

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Closed smauq closed 4 years ago

smauq commented 4 years ago

Two fixes:

A check fail that was incorrectly triggered when attaching wheel odometry to submaps, since then the root vertex can move and actually be processed multiple times.
Stream map builder reinitialization of the wheel odometry parameters after a submap is exported and vertices are deleted from the map.

ethzasl-jenkins commented 4 years ago

Test PASSed.

ethzasl-jenkins commented 4 years ago

Test PASSed.

ethzasl-jenkins commented 4 years ago

Test FAILed.

mfehr commented 4 years ago

test this please

ethzasl-jenkins commented 4 years ago

Test FAILed.

ethzasl-jenkins commented 4 years ago

Test PASSed.