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Don't add IMU data to 2D optimization problem. (#1754) 

It was constantly added regardless of motion filtering. Since it's not
used it can be just ignored. The method still needs to be there to
satisfy the interface.

Signed-off-by: Michael Grupp <grupp@magazino.eu>
master
Michael Grupp 2020-10-06 19:45:03 +02:00 committed by GitHub
parent 9675d63926
commit af00de3b3f
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2 changed files with 5 additions and 4 deletions
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5
cartographer/mapping/internal/optimization/optimization_problem_2d.cc
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@ -175,7 +175,8 @@ OptimizationProblem2D::~OptimizationProblem2D() {}
void OptimizationProblem2D::AddImuData(const int trajectory_id,
const sensor::ImuData& imu_data) {
imu_data_.Append(trajectory_id, imu_data);
// IMU data is not used in 2D optimization, so we ignore this part of the
// interface.
}
void OptimizationProblem2D::AddOdometryData(
@ -207,7 +208,7 @@ void OptimizationProblem2D::InsertTrajectoryNode(const NodeId& node_id,
}
void OptimizationProblem2D::TrimTrajectoryNode(const NodeId& node_id) {
imu_data_.Trim(node_data_, node_id);
empty_imu_data_.Trim(node_data_, node_id);
odometry_data_.Trim(node_data_, node_id);
fixed_frame_pose_data_.Trim(node_data_, node_id);
node_data_.Trim(node_id);

4
cartographer/mapping/internal/optimization/optimization_problem_2d.h
View File

@ -94,7 +94,7 @@ class OptimizationProblem2D
return landmark_data_;
}
const sensor::MapByTime<sensor::ImuData>& imu_data() const override {
return imu_data_;
return empty_imu_data_;
}
const sensor::MapByTime<sensor::OdometryData>& odometry_data()
const override {
@ -128,7 +128,7 @@ class OptimizationProblem2D
MapById<NodeId, NodeSpec2D> node_data_;
MapById<SubmapId, SubmapSpec2D> submap_data_;
std::map<std::string, transform::Rigid3d> landmark_data_;
sensor::MapByTime<sensor::ImuData> imu_data_;
sensor::MapByTime<sensor::ImuData> empty_imu_data_;
sensor::MapByTime<sensor::OdometryData> odometry_data_;
sensor::MapByTime<sensor::FixedFramePoseData> fixed_frame_pose_data_;
std::map<int, PoseGraphInterface::TrajectoryData> trajectory_data_;