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Add pure localization parameter to trajectory builder options. (#389)

master
Moritz Münst 2017-07-05 16:55:07 +02:00 committed by Wolfgang Hess
parent 9042450aaf
commit 3f4d795c3e
4 changed files with 9 additions and 0 deletions
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5
cartographer/mapping/map_builder.cc
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@ -88,6 +88,11 @@ int MapBuilder::AddTrajectoryBuilder(
trajectory_options.trajectory_builder_2d_options(), trajectory_options.trajectory_builder_2d_options(),
trajectory_id, sparse_pose_graph_2d_.get()))); trajectory_id, sparse_pose_graph_2d_.get())));
} }
if (trajectory_options.pure_localization()) {
constexpr int kSubmapsToKeep = 3;
sparse_pose_graph_->AddTrimmer(common::make_unique<PureLocalizationTrimmer>(
trajectory_id, kSubmapsToKeep));
}
return trajectory_id; return trajectory_id;
} }

1
cartographer/mapping/proto/trajectory_builder_options.proto
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@ -24,4 +24,5 @@ message TrajectoryBuilderOptions {
trajectory_builder_2d_options = 1; trajectory_builder_2d_options = 1;
optional mapping_3d.proto.LocalTrajectoryBuilderOptions optional mapping_3d.proto.LocalTrajectoryBuilderOptions
trajectory_builder_3d_options = 2; trajectory_builder_3d_options = 2;
optional bool pure_localization = 3;
} }

2
cartographer/mapping/trajectory_builder.cc
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@ -31,6 +31,8 @@ proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
*options.mutable_trajectory_builder_3d_options() = *options.mutable_trajectory_builder_3d_options() =
mapping_3d::CreateLocalTrajectoryBuilderOptions( mapping_3d::CreateLocalTrajectoryBuilderOptions(
parameter_dictionary->GetDictionary("trajectory_builder_3d").get()); parameter_dictionary->GetDictionary("trajectory_builder_3d").get());
options.set_pure_localization(
parameter_dictionary->GetBool("pure_localization"));
return options; return options;
} }

1
configuration_files/trajectory_builder.lua
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@ -18,4 +18,5 @@ include "trajectory_builder_3d.lua"
TRAJECTORY_BUILDER = { TRAJECTORY_BUILDER = {
trajectory_builder_2d = TRAJECTORY_BUILDER_2D, trajectory_builder_2d = TRAJECTORY_BUILDER_2D,
trajectory_builder_3d = TRAJECTORY_BUILDER_3D, trajectory_builder_3d = TRAJECTORY_BUILDER_3D,
pure_localization = false,
} }