{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer/issues/930","repository_url":"https://api.github.com/repos/googlecartographer/cartographer","labels_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/930/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/930/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/930/events","html_url":"https://github.com/googlecartographer/cartographer/pull/930","id":299551850,"number":930,"title":"Fix the crash when filtering RangeData in local_trajectory_builder for very long runs.","user":{"login":"zjwoody","id":18470302,"avatar_url":"https://avatars0.githubusercontent.com/u/18470302?v=4","gravatar_id":"","url":"https://api.github.com/users/zjwoody","html_url":"https://github.com/zjwoody","followers_url":"https://api.github.com/users/zjwoody/followers","following_url":"https://api.github.com/users/zjwoody/following{/other_user}","gists_url":"https://api.github.com/users/zjwoody/gists{/gist_id}","starred_url":"https://api.github.com/users/zjwoody/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/zjwoody/subscriptions","organizations_url":"https://api.github.com/users/zjwoody/orgs","repos_url":"https://api.github.com/users/zjwoody/repos","events_url":"https://api.github.com/users/zjwoody/events{/privacy}","received_events_url":"https://api.github.com/users/zjwoody/received_events","type":"User","site_admin":false},"labels":[{"id":418020229,"url":"https://api.github.com/repos/googlecartographer/cartographer/labels/cla:%20yes","name":"cla: yes","color":"0e8a16","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-02-22T23:53:27Z","updated_at":"2018-02-27T08:10:44Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/googlecartographer/cartographer/pulls/930","html_url":"https://github.com/googlecartographer/cartographer/pull/930","diff_url":"https://github.com/googlecartographer/cartographer/pull/930.diff","patch_url":"https://github.com/googlecartographer/cartographer/pull/930.patch"},"body":"The pr fix the crash for the long runs(like car). The points in the local frame have very large position value, and it causes the crash when filtering. So I transformed the accumulated_range_data_ in the first tracking frame to avoid large position value, then filtering it.\r\nTested long runs."},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer/issues/comments/368781191","html_url":"https://github.com/googlecartographer/cartographer/pull/930#issuecomment-368781191","issue_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/930","id":368781191,"user":{"login":"gaschler","id":339437,"avatar_url":"https://avatars3.githubusercontent.com/u/339437?v=4","gravatar_id":"","url":"https://api.github.com/users/gaschler","html_url":"https://github.com/gaschler","followers_url":"https://api.github.com/users/gaschler/followers","following_url":"https://api.github.com/users/gaschler/following{/other_user}","gists_url":"https://api.github.com/users/gaschler/gists{/gist_id}","starred_url":"https://api.github.com/users/gaschler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gaschler/subscriptions","organizations_url":"https://api.github.com/users/gaschler/orgs","repos_url":"https://api.github.com/users/gaschler/repos","events_url":"https://api.github.com/users/gaschler/events{/privacy}","received_events_url":"https://api.github.com/users/gaschler/received_events","type":"User","site_admin":false},"created_at":"2018-02-27T08:10:44Z","updated_at":"2018-02-27T08:10:44Z","author_association":"CONTRIBUTOR","body":"I created the bug https://github.com/googlecartographer/cartographer/issues/937 and will have a look at the voxel filter itself."}}
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