Merge pull request #183 from ethz-asl/fix/keyframing_crash

Fix two keyframing issues
ethz-asl · Dec 5, 2019 · c1e3f77 · c1e3f77
2 parents 736b1c4 + 071a11d
commit c1e3f77
Show file tree

Hide file tree

Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/algorithms/map-sparsification/src/keyframe-pruning.cc b/algorithms/map-sparsification/src/keyframe-pruning.cc
@@ -250,8 +250,12 @@ size_t selectKeyframesBasedOnHeuristics(
     ++num_frames_since_last_keyframe;
   }
 
-  // The last vertex is always a keyframe
-  insert_keyframe(current_vertex_id);
+
+  // Ensure the last vertex is added as a keyframe if it hasn't been selected
+  // by any heuristics yet.
+  if (last_keyframe_id != current_vertex_id) {
+    insert_keyframe(current_vertex_id);
+  }
 
   return selected_keyframes->size();
 }

diff --git a/console-plugins/map-sparsification-plugin/src/keyframe-pruning.cc b/console-plugins/map-sparsification-plugin/src/keyframe-pruning.cc
@@ -37,9 +37,6 @@ int keyframeMapBasedOnHeuristics(
     return common::CommandStatus::kUnknownError;
   }
 
-  if (keyframe_ids.back() != last_vertex_id) {
-    keyframe_ids.emplace_back(last_vertex_id);
-  }
 
   // Optionally, visualize the selected keyframes.
   if (plotter != nullptr) {

diff --git a/map-structure/vi-map/src/pose-graph.cc b/map-structure/vi-map/src/pose-graph.cc
@@ -92,7 +92,7 @@ void PoseGraph::mergeNeighboringEdges<TransformationEdge>(
   CHECK_EQ(merge_into_vertex_id, edge_between_vertices.from());
   CHECK_EQ(edge_between_vertices.to(), edge_after_next_vertex.from());
 
-  const aslam::SensorId& sensor_id = edge_between_vertices.getSensorId();
+  const aslam::SensorId sensor_id = edge_between_vertices.getSensorId();
   CHECK_EQ(sensor_id, edge_after_next_vertex.getSensorId());
 
   const Edge::EdgeType edge_type = edge_between_vertices.getType();