cartographer/configuration_files/trajectory_builder.lua

-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

include "trajectory_builder_2d.lua"
include "trajectory_builder_3d.lua"

TRAJECTORY_BUILDER = {
  trajectory_builder_2d = TRAJECTORY_BUILDER_2D,
  trajectory_builder_3d = TRAJECTORY_BUILDER_3D,
--  pure_localization_trimmer = {
--    max_submaps_to_keep = 3,
--  },
--  overlapping_submaps_trimmer_2d = {
--    fresh_submaps_count = 1,
--    min_covered_area = 2,
--    min_added_submaps_count = 5,
--  },
  collate_fixed_frame = true,
  collate_landmarks = false,
}