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Add `collate_by_trajectory` support in lua config (#1334) 

This commit add support of specifying the option to collate data by
trajectory introduced in #828 in the lua configuration files.
The value is set to false as when a boolean option is not specified it
is initialized to false.
master
damienrg 2019-03-08 15:36:30 +01:00 committed by Alexander Belyaev
parent 856e9c924a
commit 3b941ee126
2 changed files with 3 additions and 0 deletions
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2
cartographer/mapping/map_builder.cc
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@ -82,6 +82,8 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
parameter_dictionary->GetBool("use_trajectory_builder_3d")); parameter_dictionary->GetBool("use_trajectory_builder_3d"));
options.set_num_background_threads( options.set_num_background_threads(
parameter_dictionary->GetNonNegativeInt("num_background_threads")); parameter_dictionary->GetNonNegativeInt("num_background_threads"));
options.set_collate_by_trajectory(
parameter_dictionary->GetBool("collate_by_trajectory"));
*options.mutable_pose_graph_options() = CreatePoseGraphOptions( *options.mutable_pose_graph_options() = CreatePoseGraphOptions(
parameter_dictionary->GetDictionary("pose_graph").get()); parameter_dictionary->GetDictionary("pose_graph").get());
CHECK_NE(options.use_trajectory_builder_2d(), CHECK_NE(options.use_trajectory_builder_2d(),

1
configuration_files/map_builder.lua
View File

@ -19,4 +19,5 @@ MAP_BUILDER = {
use_trajectory_builder_3d = false, use_trajectory_builder_3d = false,
num_background_threads = 4, num_background_threads = 4,
pose_graph = POSE_GRAPH, pose_graph = POSE_GRAPH,
collate_by_trajectory = false,
} }