12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
cartographer/mapping/internal/optimization/optimization_problem_2d.cc
View File

@ -175,7 +175,8 @@ OptimizationProblem2D::~OptimizationProblem2D() {}
void OptimizationProblem2D::AddImuData(const int trajectory_id, void OptimizationProblem2D::AddImuData(const int trajectory_id,
const sensor::ImuData& imu_data) { 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( void OptimizationProblem2D::AddOdometryData(
@ -207,7 +208,7 @@ void OptimizationProblem2D::InsertTrajectoryNode(const NodeId& node_id,
} }
void OptimizationProblem2D::TrimTrajectoryNode(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); odometry_data_.Trim(node_data_, node_id);
fixed_frame_pose_data_.Trim(node_data_, node_id); fixed_frame_pose_data_.Trim(node_data_, node_id);
node_data_.Trim(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_; return landmark_data_;
} }
const sensor::MapByTime<sensor::ImuData>& imu_data() const override { const sensor::MapByTime<sensor::ImuData>& imu_data() const override {
return imu_data_; return empty_imu_data_;
} }
const sensor::MapByTime<sensor::OdometryData>& odometry_data() const sensor::MapByTime<sensor::OdometryData>& odometry_data()
const override { const override {
@ -128,7 +128,7 @@ class OptimizationProblem2D
MapById<NodeId, NodeSpec2D> node_data_; MapById<NodeId, NodeSpec2D> node_data_;
MapById<SubmapId, SubmapSpec2D> submap_data_; MapById<SubmapId, SubmapSpec2D> submap_data_;
std::map<std::string, transform::Rigid3d> landmark_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::OdometryData> odometry_data_;
sensor::MapByTime<sensor::FixedFramePoseData> fixed_frame_pose_data_; sensor::MapByTime<sensor::FixedFramePoseData> fixed_frame_pose_data_;
std::map<int, PoseGraphInterface::TrajectoryData> trajectory_data_; std::map<int, PoseGraphInterface::TrajectoryData> trajectory_data_;