Introduces mapping::MapById for nodes in 3D. (#587)

cartographer/mapping_3d/sparse_pose_graph.cc

@@ -99,7 +99,7 @@ void SparsePoseGraph::AddScan(
 
   common::MutexLocker locker(&mutex_);
   AddTrajectoryIfNeeded(trajectory_id);
-  trajectory_nodes_.Append(
+  const mapping::NodeId node_id = trajectory_nodes_.Append(
       trajectory_id, mapping::TrajectoryNode{constant_data, optimized_pose});
   ++num_trajectory_nodes_;
 
@@ -121,7 +121,7 @@ void SparsePoseGraph::AddScan(
   // execute the lambda.
   const bool newly_finished_submap = insertion_submaps.front()->finished();
   AddWorkItem([=]() REQUIRES(mutex_) {
-    ComputeConstraintsForScan(trajectory_id, insertion_submaps,
+    ComputeConstraintsForScan(node_id, insertion_submaps,
                               newly_finished_submap);
   });
 }
@@ -178,10 +178,7 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
       optimization_problem_.submap_data().at(submap_id).pose.inverse();
 
   const transform::Rigid3d initial_relative_pose =
-      inverse_submap_pose * optimization_problem_.node_data()
+      inverse_submap_pose * optimization_problem_.node_data().at(node_id).pose;
-                                .at(node_id.trajectory_id)
-                                .at(node_id.node_index)
-                                .pose;
 
   std::vector<mapping::TrajectoryNode> submap_nodes;
   for (const mapping::NodeId& submap_node_id :
@@ -231,40 +228,23 @@ void SparsePoseGraph::ComputeConstraint(const mapping::NodeId& node_id,
 void SparsePoseGraph::ComputeConstraintsForOldScans(
     const mapping::SubmapId& submap_id) {
   const auto& submap_data = submap_data_.at(submap_id);
-  const auto& node_data = optimization_problem_.node_data();
+  for (const auto& node_id_data : optimization_problem_.node_data()) {
-  for (size_t trajectory_id = 0; trajectory_id != node_data.size();
+    const mapping::NodeId& node_id = node_id_data.id;
-       ++trajectory_id) {
+    CHECK(!trajectory_nodes_.at(node_id).trimmed());
-    for (const auto& index_node_data : node_data[trajectory_id]) {
+    if (submap_data.node_ids.count(node_id) == 0) {
-      const mapping::NodeId node_id{static_cast<int>(trajectory_id),
+      ComputeConstraint(node_id, submap_id);
-                                    index_node_data.first};
-      CHECK(!trajectory_nodes_.at(node_id).trimmed());
-      if (submap_data.node_ids.count(node_id) == 0) {
-        ComputeConstraint(node_id, submap_id);
-      }
     }
   }
 }
 
 void SparsePoseGraph::ComputeConstraintsForScan(
-    const int trajectory_id,
+    const mapping::NodeId& node_id,
     std::vector<std::shared_ptr<const Submap>> insertion_submaps,
     const bool newly_finished_submap) {
   const std::vector<mapping::SubmapId> submap_ids =
-      GrowSubmapTransformsAsNeeded(trajectory_id, insertion_submaps);
+      GrowSubmapTransformsAsNeeded(node_id.trajectory_id, insertion_submaps);
   CHECK_EQ(submap_ids.size(), insertion_submaps.size());
   const mapping::SubmapId matching_id = submap_ids.front();
-  const mapping::NodeId node_id{
-      matching_id.trajectory_id,
-      static_cast<size_t>(matching_id.trajectory_id) <
-                  optimization_problem_.node_data().size() &&
-              !optimization_problem_.node_data()[matching_id.trajectory_id]
-                   .empty()
-          ? static_cast<int>(optimization_problem_.node_data()
-                                 .at(matching_id.trajectory_id)
-                                 .rbegin()
-                                 ->first +
-                             1)
-          : 0};
   const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
   const transform::Rigid3d& pose = constant_data->initial_pose;
   const transform::Rigid3d optimized_pose =
@@ -528,12 +508,14 @@ void SparsePoseGraph::RunOptimization() {
 
   const auto& submap_data = optimization_problem_.submap_data();
   const auto& node_data = optimization_problem_.node_data();
-  for (int trajectory_id = 0;
+  for (auto node_it = node_data.begin(); node_it != node_data.end();) {
-       trajectory_id != static_cast<int>(node_data.size()); ++trajectory_id) {
+    const int trajectory_id = node_it->id.trajectory_id;
+    const auto trajectory_end = node_data.EndOfTrajectory(trajectory_id);
     const int num_nodes = trajectory_nodes_.num_indices(trajectory_id);
-    for (const auto& node_data_index : node_data.at(trajectory_id)) {
+    for (; node_it != trajectory_end; ++node_it) {
-      const mapping::NodeId node_id{trajectory_id, node_data_index.first};
+      const mapping::NodeId node_id = node_it->id;
-      trajectory_nodes_.at(node_id).pose = node_data_index.second.pose;
+      auto& node = trajectory_nodes_.at(node_id);
+      node.pose = node_it->data.pose;
     }
     // Extrapolate all point cloud poses that were added later.
     const auto local_to_new_global =
@@ -542,10 +524,7 @@ void SparsePoseGraph::RunOptimization() {
         optimized_submap_transforms_, trajectory_id);
     const transform::Rigid3d old_global_to_new_global =
         local_to_new_global * local_to_old_global.inverse();
-    int last_optimized_node_index =
+    const int last_optimized_node_index = std::prev(node_it)->id.node_index;
-        node_data.at(trajectory_id).empty()
-            ? 0
-            : node_data.at(trajectory_id).rbegin()->first;
     for (int node_index = last_optimized_node_index + 1; node_index < num_nodes;
          ++node_index) {
       const mapping::NodeId node_id{trajectory_id, node_index};

cartographer/mapping_3d/sparse_pose_graph.h

@@ -134,7 +134,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
 
   // Adds constraints for a scan, and starts scan matching in the background.
   void ComputeConstraintsForScan(
-      int trajectory_id,
+      const mapping::NodeId& node_id,
       std::vector<std::shared_ptr<const Submap>> insertion_submaps,
       bool newly_finished_submap) REQUIRES(mutex_);
 

cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc

@@ -84,23 +84,20 @@ void OptimizationProblem::AddTrajectoryNode(
     const int trajectory_id, const common::Time time,
     const transform::Rigid3d& initial_pose, const transform::Rigid3d& pose) {
   CHECK_GE(trajectory_id, 0);
-  node_data_.resize(
+  trajectory_data_.resize(std::max(trajectory_data_.size(),
-      std::max(node_data_.size(), static_cast<size_t>(trajectory_id) + 1));
+                                   static_cast<size_t>(trajectory_id) + 1));
-  trajectory_data_.resize(std::max(trajectory_data_.size(), node_data_.size()));
+  node_data_.Append(trajectory_id, NodeData{time, initial_pose, pose});
-  auto& trajectory_data = trajectory_data_[trajectory_id];
-  node_data_[trajectory_id].emplace(trajectory_data.next_node_index,
-                                    NodeData{time, initial_pose, pose});
-  ++trajectory_data.next_node_index;
 }
 
 void OptimizationProblem::TrimTrajectoryNode(const mapping::NodeId& node_id) {
-  auto& node_data = node_data_.at(node_id.trajectory_id);
+  node_data_.Trim(node_id);
-  CHECK(node_data.erase(node_id.node_index));
 
-  if (!node_data.empty() &&
+  const int trajectory_id = node_id.trajectory_id;
-      node_id.trajectory_id < static_cast<int>(imu_data_.size())) {
+  if (node_data_.SizeOfTrajectoryOrZero(trajectory_id) == 0 &&
-    const common::Time node_time = node_data.begin()->second.time;
+      trajectory_id < static_cast<int>(imu_data_.size())) {
-    auto& imu_data = imu_data_.at(node_id.trajectory_id);
+    const common::Time node_time =
+        node_data_.BeginOfTrajectory(trajectory_id)->data.time;
+    auto& imu_data = imu_data_.at(trajectory_id);
     while (imu_data.size() > 1 && imu_data[1].time <= node_time) {
       imu_data.pop_front();
     }
@@ -146,7 +143,7 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
   CHECK(!submap_data_.empty());
   CHECK(submap_data_.Contains(mapping::SubmapId{0, 0}));
   mapping::MapById<mapping::SubmapId, CeresPose> C_submaps;
-  std::vector<std::map<int, CeresPose>> C_nodes(node_data_.size());
+  mapping::MapById<mapping::NodeId, CeresPose> C_nodes;
   bool first_submap = true;
   for (const auto& submap_id_data : submap_data_) {
     const bool frozen =
@@ -177,23 +174,18 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
           C_submaps.at(submap_id_data.id).translation());
     }
   }
-  for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
+  for (const auto& node_id_data : node_data_) {
-       ++trajectory_id) {
+    const bool frozen =
-    const bool frozen = frozen_trajectories.count(trajectory_id) != 0;
+        frozen_trajectories.count(node_id_data.id.trajectory_id) != 0;
-    for (const auto& index_node_data : node_data_[trajectory_id]) {
+    C_nodes.Insert(
-      const int node_index = index_node_data.first;
+        node_id_data.id,
-      C_nodes[trajectory_id].emplace(
+        CeresPose(node_id_data.data.pose, translation_parameterization(),
-          std::piecewise_construct, std::forward_as_tuple(node_index),
+                  common::make_unique<ceres::QuaternionParameterization>(),
-          std::forward_as_tuple(
+                  &problem));
-              index_node_data.second.pose, translation_parameterization(),
+    if (frozen) {
-              common::make_unique<ceres::QuaternionParameterization>(),
+      problem.SetParameterBlockConstant(C_nodes.at(node_id_data.id).rotation());
-              &problem));
+      problem.SetParameterBlockConstant(
-      if (frozen) {
+          C_nodes.at(node_id_data.id).translation());
-        problem.SetParameterBlockConstant(
-            C_nodes[trajectory_id].at(node_index).rotation());
-        problem.SetParameterBlockConstant(
-            C_nodes[trajectory_id].at(node_index).translation());
-      }
     }
   }
   // Add cost functions for intra- and inter-submap constraints.
@@ -207,44 +199,33 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
             : nullptr,
         C_submaps.at(constraint.submap_id).rotation(),
         C_submaps.at(constraint.submap_id).translation(),
-        C_nodes.at(constraint.node_id.trajectory_id)
+        C_nodes.at(constraint.node_id).rotation(),
-            .at(constraint.node_id.node_index)
+        C_nodes.at(constraint.node_id).translation());
-            .rotation(),
-        C_nodes.at(constraint.node_id.trajectory_id)
-            .at(constraint.node_id.node_index)
-            .translation());
   }
 
   // Add constraints based on IMU observations of angular velocities and
   // linear acceleration.
   if (fix_z_ == FixZ::kNo) {
-    trajectory_data_.resize(imu_data_.size());
+    for (auto node_it = node_data_.begin(); node_it != node_data_.end();) {
-    CHECK_GE(trajectory_data_.size(), node_data_.size());
+      const int trajectory_id = node_it->id.trajectory_id;
-    for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
+      const auto trajectory_end = node_data_.EndOfTrajectory(trajectory_id);
-         ++trajectory_id) {
-      if (node_data_[trajectory_id].empty()) {
-        // We skip empty trajectories which might not have any IMU data.
-        continue;
-      }
       TrajectoryData& trajectory_data = trajectory_data_.at(trajectory_id);
+
       problem.AddParameterBlock(trajectory_data.imu_calibration.data(), 4,
                                 new ceres::QuaternionParameterization());
       const std::deque<sensor::ImuData>& imu_data = imu_data_.at(trajectory_id);
       CHECK(!imu_data.empty());
 
       auto imu_it = imu_data.cbegin();
-      for (auto node_it = node_data_[trajectory_id].begin();;) {
+      auto prev_node_it = node_it;
-        const int first_node_index = node_it->first;
+      for (++node_it; node_it != trajectory_end; ++node_it) {
-        const NodeData& first_node_data = node_it->second;
+        const mapping::NodeId first_node_id = prev_node_it->id;
-        ++node_it;
+        const NodeData& first_node_data = prev_node_it->data;
-        if (node_it == node_data_[trajectory_id].end()) {
+        prev_node_it = node_it;
-          break;
+        const mapping::NodeId second_node_id = node_it->id;
-        }
+        const NodeData& second_node_data = node_it->data;
 
-        const int second_node_index = node_it->first;
+        if (second_node_id.node_index != first_node_id.node_index + 1) {
-        const NodeData& second_node_data = node_it->second;
-
-        if (second_node_index != first_node_index + 1) {
           continue;
         }
 
@@ -258,10 +239,10 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
         const IntegrateImuResult<double> result = IntegrateImu(
             imu_data, first_node_data.time, second_node_data.time, &imu_it);
         const auto next_node_it = std::next(node_it);
-        if (next_node_it != node_data_[trajectory_id].end() &&
+        if (next_node_it != trajectory_end &&
-            next_node_it->first == second_node_index + 1) {
+            next_node_it->id.node_index == second_node_id.node_index + 1) {
-          const int third_node_index = next_node_it->first;
+          const mapping::NodeId third_node_id = next_node_it->id;
-          const NodeData& third_node_data = next_node_it->second;
+          const NodeData& third_node_data = next_node_it->data;
           const common::Time first_time = first_node_data.time;
           const common::Time second_time = second_node_data.time;
           const common::Time third_time = third_node_data.time;
@@ -289,10 +270,10 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
                       options_.acceleration_weight(), delta_velocity,
                       common::ToSeconds(first_duration),
                       common::ToSeconds(second_duration))),
-              nullptr, C_nodes[trajectory_id].at(second_node_index).rotation(),
+              nullptr, C_nodes.at(second_node_id).rotation(),
-              C_nodes[trajectory_id].at(first_node_index).translation(),
+              C_nodes.at(first_node_id).translation(),
-              C_nodes[trajectory_id].at(second_node_index).translation(),
+              C_nodes.at(second_node_id).translation(),
-              C_nodes[trajectory_id].at(third_node_index).translation(),
+              C_nodes.at(third_node_id).translation(),
               &trajectory_data.gravity_constant,
               trajectory_data.imu_calibration.data());
         }
@@ -300,8 +281,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
             new ceres::AutoDiffCostFunction<RotationCostFunction, 3, 4, 4, 4>(
                 new RotationCostFunction(options_.rotation_weight(),
                                          result.delta_rotation)),
-            nullptr, C_nodes[trajectory_id].at(first_node_index).rotation(),
+            nullptr, C_nodes.at(first_node_id).rotation(),
-            C_nodes[trajectory_id].at(second_node_index).rotation(),
+            C_nodes.at(second_node_id).rotation(),
             trajectory_data.imu_calibration.data());
       }
     }
@@ -310,66 +291,62 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
   if (fix_z_ == FixZ::kYes) {
     // Add penalties for violating odometry or changes between consecutive scans
     // if odometry is not available.
-    for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
+    for (auto node_it = node_data_.begin(); node_it != node_data_.end();) {
-         ++trajectory_id) {
+      const int trajectory_id = node_it->id.trajectory_id;
-      if (node_data_[trajectory_id].empty()) {
+      const auto trajectory_end = node_data_.EndOfTrajectory(trajectory_id);
-        continue;
-      }
-      for (auto node_it = node_data_[trajectory_id].begin();;) {
-        const int node_index = node_it->first;
-        const NodeData& node_data = node_it->second;
-        ++node_it;
-        if (node_it == node_data_[trajectory_id].end()) {
-          break;
-        }
 
-        const int next_node_index = node_it->first;
+      auto prev_node_it = node_it;
-        const NodeData& next_node_data = node_it->second;
+      for (++node_it; node_it != trajectory_end; ++node_it) {
+        const mapping::NodeId first_node_id = prev_node_it->id;
+        const NodeData& first_node_data = prev_node_it->data;
+        prev_node_it = node_it;
+        const mapping::NodeId second_node_id = node_it->id;
+        const NodeData& second_node_data = node_it->data;
 
-        if (next_node_index != node_index + 1) {
+        if (second_node_id.node_index != first_node_id.node_index + 1) {
           continue;
         }
 
         const bool odometry_available =
-            trajectory_id < odometry_data_.size() &&
+            trajectory_id < static_cast<int>(odometry_data_.size()) &&
-            odometry_data_[trajectory_id].Has(next_node_data.time) &&
+            odometry_data_[trajectory_id].Has(second_node_data.time) &&
-            odometry_data_[trajectory_id].Has(node_data.time);
+            odometry_data_[trajectory_id].Has(first_node_data.time);
         const transform::Rigid3d relative_pose =
-            odometry_available
+            odometry_available ? odometry_data_[trajectory_id]
-                ? odometry_data_[trajectory_id]
+                                         .Lookup(first_node_data.time)
-                          .Lookup(node_data.time)
+                                         .inverse() *
-                          .inverse() *
+                                     odometry_data_[trajectory_id].Lookup(
-                      odometry_data_[trajectory_id].Lookup(next_node_data.time)
+                                         second_node_data.time)
-                : node_data.initial_pose.inverse() *
+                               : first_node_data.initial_pose.inverse() *
-                      next_node_data.initial_pose;
+                                     second_node_data.initial_pose;
         problem.AddResidualBlock(
             new ceres::AutoDiffCostFunction<SpaCostFunction, 6, 4, 3, 4, 3>(
                 new SpaCostFunction(Constraint::Pose{
                     relative_pose,
                     options_.consecutive_scan_translation_penalty_factor(),
                     options_.consecutive_scan_rotation_penalty_factor()})),
-            nullptr /* loss function */,
+            nullptr /* loss function */, C_nodes.at(first_node_id).rotation(),
-            C_nodes[trajectory_id].at(node_index).rotation(),
+            C_nodes.at(first_node_id).translation(),
-            C_nodes[trajectory_id].at(node_index).translation(),
+            C_nodes.at(second_node_id).rotation(),
-            C_nodes[trajectory_id].at(next_node_index).rotation(),
+            C_nodes.at(second_node_id).translation());
-            C_nodes[trajectory_id].at(next_node_index).translation());
       }
     }
   }
 
   // Add fixed frame pose constraints.
   std::deque<CeresPose> C_fixed_frames;
-  for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
+  for (auto node_it = node_data_.begin(); node_it != node_data_.end();) {
-       ++trajectory_id) {
+    const int trajectory_id = node_it->id.trajectory_id;
-    if (trajectory_id >= fixed_frame_pose_data_.size()) {
+    if (trajectory_id >= static_cast<int>(fixed_frame_pose_data_.size())) {
       break;
     }
-
     bool fixed_frame_pose_initialized = false;
 
-    for (auto& index_node_data : node_data_[trajectory_id]) {
+    const auto trajectory_end = node_data_.EndOfTrajectory(trajectory_id);
-      const int node_index = index_node_data.first;
+    for (; node_it != trajectory_end; ++node_it) {
-      const NodeData& node_data = index_node_data.second;
+      const mapping::NodeId node_id = node_it->id;
+      const NodeData& node_data = node_it->data;
+
       if (!fixed_frame_pose_data_.at(trajectory_id).Has(node_data.time)) {
         continue;
       }
@@ -399,9 +376,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
           new ceres::AutoDiffCostFunction<SpaCostFunction, 6, 4, 3, 4, 3>(
               new SpaCostFunction(constraint_pose)),
           nullptr, C_fixed_frames.back().rotation(),
-          C_fixed_frames.back().translation(),
+          C_fixed_frames.back().translation(), C_nodes.at(node_id).rotation(),
-          C_nodes.at(trajectory_id).at(node_index).rotation(),
+          C_nodes.at(node_id).translation());
-          C_nodes.at(trajectory_id).at(node_index).translation());
     }
   }
 
@@ -433,17 +409,13 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
   for (const auto& C_submap_id_data : C_submaps) {
     submap_data_.at(C_submap_id_data.id).pose = C_submap_id_data.data.ToRigid();
   }
-  for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
+  for (const auto& C_node_id_data : C_nodes) {
-       ++trajectory_id) {
+    node_data_.at(C_node_id_data.id).pose = C_node_id_data.data.ToRigid();
-    for (auto& index_node_data : node_data_[trajectory_id]) {
-      index_node_data.second.pose =
-          C_nodes[trajectory_id].at(index_node_data.first).ToRigid();
-    }
   }
 }
 
-const std::vector<std::map<int, NodeData>>& OptimizationProblem::node_data()
+const mapping::MapById<mapping::NodeId, NodeData>&
-    const {
+OptimizationProblem::node_data() const {
   return node_data_;
 }
 

cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h

@@ -84,20 +84,19 @@ class OptimizationProblem {
   void Solve(const std::vector<Constraint>& constraints,
              const std::set<int>& frozen_trajectories);
 
-  const std::vector<std::map<int, NodeData>>& node_data() const;
+  const mapping::MapById<mapping::NodeId, NodeData>& node_data() const;
   const mapping::MapById<mapping::SubmapId, SubmapData>& submap_data() const;
 
  private:
   struct TrajectoryData {
     double gravity_constant = 9.8;
     std::array<double, 4> imu_calibration{{1., 0., 0., 0.}};
-    int next_node_index = 0;
   };
 
   mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
   FixZ fix_z_;
   std::vector<std::deque<sensor::ImuData>> imu_data_;
-  std::vector<std::map<int, NodeData>> node_data_;
+  mapping::MapById<mapping::NodeId, NodeData> node_data_;
   std::vector<transform::TransformInterpolationBuffer> odometry_data_;
   mapping::MapById<mapping::SubmapId, SubmapData> submap_data_;
   std::vector<TrajectoryData> trajectory_data_;

cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc

@@ -134,20 +134,20 @@ TEST_F(OptimizationProblemTest, ReducesNoise) {
   std::vector<OptimizationProblem::Constraint> constraints;
   for (int j = 0; j != kNumNodes; ++j) {
     constraints.push_back(OptimizationProblem::Constraint{
-        mapping::SubmapId{0, 0}, mapping::NodeId{0, j},
+        mapping::SubmapId{kTrajectoryId, 0}, mapping::NodeId{kTrajectoryId, j},
         OptimizationProblem::Constraint::Pose{
             AddNoise(test_data[j].ground_truth_pose, test_data[j].noise), 1.,
             1.}});
     // We add an additional independent, but equally noisy observation.
     constraints.push_back(OptimizationProblem::Constraint{
-        mapping::SubmapId{0, 1}, mapping::NodeId{0, j},
+        mapping::SubmapId{kTrajectoryId, 1}, mapping::NodeId{kTrajectoryId, j},
         OptimizationProblem::Constraint::Pose{
             AddNoise(test_data[j].ground_truth_pose,
                      RandomYawOnlyTransform(0.2, 0.3)),
             1., 1.}});
     // We add very noisy data with a low weight to verify it is mostly ignored.
     constraints.push_back(OptimizationProblem::Constraint{
-        mapping::SubmapId{0, 2}, mapping::NodeId{0, j},
+        mapping::SubmapId{kTrajectoryId, 2}, mapping::NodeId{kTrajectoryId, j},
         OptimizationProblem::Constraint::Pose{
             kSubmap2Transform.inverse() * test_data[j].ground_truth_pose *
                 RandomTransform(1e3, 3.),
@@ -156,13 +156,15 @@ TEST_F(OptimizationProblemTest, ReducesNoise) {
 
   double translation_error_before = 0.;
   double rotation_error_before = 0.;
-  const auto& node_data = optimization_problem_.node_data().at(0);
+  const auto& node_data = optimization_problem_.node_data();
   for (int j = 0; j != kNumNodes; ++j) {
-    translation_error_before += (test_data[j].ground_truth_pose.translation() -
+    translation_error_before +=
-                                 node_data.at(j).pose.translation())
+        (test_data[j].ground_truth_pose.translation() -
-                                    .norm();
+         node_data.at(mapping::NodeId{kTrajectoryId, j}).pose.translation())
+            .norm();
     rotation_error_before += transform::GetAngle(
-        test_data[j].ground_truth_pose.inverse() * node_data.at(j).pose);
+        test_data[j].ground_truth_pose.inverse() *
+        node_data.at(mapping::NodeId{kTrajectoryId, j}).pose);
   }
 
   optimization_problem_.AddSubmap(kTrajectoryId, kSubmap0Transform);
@@ -174,11 +176,13 @@ TEST_F(OptimizationProblemTest, ReducesNoise) {
   double translation_error_after = 0.;
   double rotation_error_after = 0.;
   for (int j = 0; j != kNumNodes; ++j) {
-    translation_error_after += (test_data[j].ground_truth_pose.translation() -
+    translation_error_after +=
-                                node_data.at(j).pose.translation())
+        (test_data[j].ground_truth_pose.translation() -
-                                   .norm();
+         node_data.at(mapping::NodeId{kTrajectoryId, j}).pose.translation())
+            .norm();
     rotation_error_after += transform::GetAngle(
-        test_data[j].ground_truth_pose.inverse() * node_data.at(j).pose);
+        test_data[j].ground_truth_pose.inverse() *
+        node_data.at(mapping::NodeId{kTrajectoryId, j}).pose);
   }
 
   EXPECT_GT(0.8 * translation_error_before, translation_error_after);