Removed ICP registration module from maplab server loop

Gatsby23 · Jun 11, 2023 · 596b300 · 596b300
1 parent da24f30
commit 596b300
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diff --git a/applications/maplab-server-node/package.xml b/applications/maplab-server-node/package.xml
@@ -24,7 +24,6 @@
 	<depend>visualization</depend>
 
 	<!-- Make sure all the plugins are available to the server to support all the algorithms necessary -->
-	<depend>dense_mapping_constraints_plugin</depend>
 	<depend>dense_reconstruction_plugin</depend>
 	<depend>landmark_manipulation_plugin</depend>
 	<depend>loop_closure_plugin</depend>

diff --git a/applications/maplab-server-node/src/maplab-server-node.cc b/applications/maplab-server-node/src/maplab-server-node.cc
@@ -1,8 +1,5 @@
 #include "maplab-server-node/maplab-server-node.h"
 
-#if __GNUC__ > 5
-#include <dense-mapping/dense-mapping.h>
-#endif
 #include <depth-integration/depth-integration.h>
 
 #include <aslam/common/timer.h>
@@ -753,35 +750,6 @@ void MaplabServerNode::runOneIterationOfMapMergingAlgorithms() {
     }
   }
 
-  // Lidar local constraints/loop closure
-  ///////////////////////////////////////
-  // Searches for nearby dense map data (e.g. lidar scans) within and across
-  // missions and uses point cloud registration algorithms to derive relative
-  // constraints. These are added as loop closures between vertices. When
-  // iteratively executing this command, as is done here, the candidate pairs
-  // that already posess a valid (switch variable is healthy) loop closure will
-  // not be computed again.
-#if __GNUC__ > 5
-  if (FLAGS_maplab_server_enable_lidar_loop_closure) {
-    vi_map::VIMapManager::MapWriteAccess map =
-        map_manager_.getMapWriteAccess(kMergedMapKey);
-    vi_map::MissionIdList mission_ids;
-    map->getAllMissionIds(&mission_ids);
-    {
-      std::lock_guard<std::mutex> merge_status_lock(
-          running_merging_process_mutex_);
-      running_merging_process_ = "lidar loop closure";
-    }
-
-    const dense_mapping::Config config = dense_mapping::Config::fromGflags();
-    if (!dense_mapping::addDenseMappingConstraintsToMap(
-            config, mission_ids, map.get())) {
-      LOG(ERROR) << "[MaplabServerNode] Adding dense mapping constraints "
-                 << "encountered an error!";
-    }
-  }
-#endif
-
   // Full optimization
   ////////////////////
   // This does not scale, and never will, so it is important that # we limit
@@ -1300,27 +1268,6 @@ void MaplabServerNode::runSubmapProcessing(
     vi_map_helpers::evaluateLandmarkQuality(missions_to_process, map.get());
   }
 
-  // Lidar local constraints/loop closure
-  ///////////////////////////////////////
-  // Searches for nearby dense map data (e.g. lidar scans) within the submap
-  // mission and uses point cloud registration algorithms to derive relative
-  // constraints. These are added as loop closures between vertices.
-#if __GNUC__ > 5
-  if (FLAGS_maplab_server_enable_lidar_loop_closure) {
-    {
-      std::lock_guard<std::mutex> status_lock(running_submap_process_mutex_);
-      running_submap_process_[submap_process.map_hash] = "lidar loop closure";
-    }
-
-    const dense_mapping::Config config = dense_mapping::Config::fromGflags();
-    if (!dense_mapping::addDenseMappingConstraintsToMap(
-            config, missions_to_process, map.get())) {
-      LOG(ERROR) << "[MaplabServerNode] Adding dense mapping constraints "
-                 << "encountered an error!";
-    }
-  }
-#endif
-
   // Submap Optimization
   //////////////////////
   {