Merge pull request #66 from ethz-asl/fix/meshing_without_visualization

move meshing into tracking to guarantee tracks work also without visu…

Author: Schmluk

panoptic_mapping/src/tracking/projective_id_tracker.cpp

@@ -238,8 +238,16 @@ bool ProjectiveIDTracker::classesMatch(int input_id, int submap_class_id) {
 TrackingInfoAggregator ProjectiveIDTracker::computeTrackingData(
     SubmapCollection* submaps, InputData* input) {
   // Render each active submap in parallel to collect overlap statistics.
-  SubmapIndexGetter index_getter(
-      globals_->camera()->findVisibleSubmapIDs(*submaps, input->T_M_C()));
+  const std::vector<int> visible_submaps =
+      globals_->camera()->findVisibleSubmapIDs(*submaps, input->T_M_C());
+
+  // Make sure the meshes of all submaps are update for tracking.
+  for (int submap_id : visible_submaps) {
+    submaps->getSubmapPtr(submap_id)->updateMesh();
+  }
+
+  // Render each submap in parallel.
+  SubmapIndexGetter index_getter(visible_submaps);
   std::vector<std::future<std::vector<TrackingInfo>>> threads;
   TrackingInfoAggregator tracking_data;
   for (int i = 0; i < config_.rendering_threads; ++i) {

panoptic_mapping_ros/src/visualization/submap_visualizer.cpp

@@ -185,7 +185,8 @@ std::vector<voxblox_msgs::MultiMesh> SubmapVisualizer::generateMeshMsgs(
     msg.header.frame_id = submap.getFrameName();
     msg.name_space = info.name_space;
 
-    // Update the mesh.
+    // NOTE(schmluk): The mesh should already be updated. Since only changed
+    // blocks will be re-meshed this double check should be cheap.
     submap.updateMesh();
 
     // Mark the whole mesh for re-publishing if requested.