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

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
cartographer/mapping/internal/optimization

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

@ -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_;