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Add overlapping trimmer params to TrajectoryBuilderOptions. (#1076)

master
Alexander Belyaev 2018-04-17 13:00:04 +02:00 committed by GitHub
parent e215c170e7
commit 74970be757
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3 changed files with 34 additions and 0 deletions
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9
cartographer/mapping/map_builder.cc
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@ -19,6 +19,7 @@
#include "cartographer/common/make_unique.h"
#include "cartographer/common/time.h"
#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
#include "cartographer/mapping/internal/2d/overlapping_submaps_trimmer_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
@ -120,6 +121,14 @@ int MapBuilder::AddTrajectoryBuilder(
std::move(local_trajectory_builder), trajectory_id,
static_cast<PoseGraph2D*>(pose_graph_.get()),
local_slam_result_callback)));
if (trajectory_options.has_overlapping_submaps_trimmer_2d()) {
const auto& trimmer_options =
trajectory_options.overlapping_submaps_trimmer_2d();
pose_graph_->AddTrimmer(common::make_unique<OverlappingSubmapsTrimmer2D>(
trimmer_options.fresh_submaps_count(),
trimmer_options.min_covered_cells_count()));
}
}
if (trajectory_options.pure_localization()) {
constexpr int kSubmapsToKeep = 3;

6
cartographer/mapping/proto/trajectory_builder_options.proto
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@ -31,6 +31,12 @@ message TrajectoryBuilderOptions {
LocalTrajectoryBuilderOptions3D trajectory_builder_3d_options = 2;
bool pure_localization = 3;
InitialTrajectoryPose initial_trajectory_pose = 4;
message OverlappingSubmapsTrimmerOptions2D {
int32 fresh_submaps_count = 1;
int32 min_covered_cells_count = 2;
}
OverlappingSubmapsTrimmerOptions2D overlapping_submaps_trimmer_2d = 5;
}
message SensorId {

19
cartographer/mapping/trajectory_builder_interface.cc
View File

@ -22,6 +22,24 @@
namespace cartographer {
namespace mapping {
namespace {
void PopulateOverlappingSubmapsTrimmerOptions2D(
proto::TrajectoryBuilderOptions* const trajectory_builder_options,
common::LuaParameterDictionary* const parameter_dictionary) {
constexpr char kDictionaryKey[] = "overlapping_submaps_trimmer_2d";
if (!parameter_dictionary->HasKey(kDictionaryKey)) return;
auto options_dictionary = parameter_dictionary->GetDictionary(kDictionaryKey);
auto* options =
trajectory_builder_options->mutable_overlapping_submaps_trimmer_2d();
options->set_fresh_submaps_count(
options_dictionary->GetInt("fresh_submaps_count"));
options->set_min_covered_cells_count(
options_dictionary->GetInt("min_covered_cells_count"));
}
} // namespace
proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
common::LuaParameterDictionary* const parameter_dictionary) {
@ -34,6 +52,7 @@ proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
parameter_dictionary->GetDictionary("trajectory_builder_3d").get());
options.set_pure_localization(
parameter_dictionary->GetBool("pure_localization"));
PopulateOverlappingSubmapsTrimmerOptions2D(&options, parameter_dictionary);
return options;
}