From 99bc9e196d4606eddffce09f10559b5e21c070da Mon Sep 17 00:00:00 2001 From: damienrg Date: Fri, 8 Mar 2019 16:36:53 +0100 Subject: [PATCH] Use collate_by_trajectory lua option in server (#1537) This removes the hardcoded value of `collate_by_trajectory` in the cloud map builder server and permits to configure `collate_by_trajectory` option with lua. --- cartographer/cloud/map_builder_server_main.cc | 4 ---- configuration_files/map_builder_server.lua | 2 ++ 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/cartographer/cloud/map_builder_server_main.cc b/cartographer/cloud/map_builder_server_main.cc index b07a99a..67d4051 100644 --- a/cartographer/cloud/map_builder_server_main.cc +++ b/cartographer/cloud/map_builder_server_main.cc @@ -50,10 +50,6 @@ void Run(const std::string& configuration_directory, proto::MapBuilderServerOptions map_builder_server_options = LoadMapBuilderServerOptions(configuration_directory, configuration_basename); - // TODO(gaschler): Remove this override when parameter is imported from lua - // config. - map_builder_server_options.mutable_map_builder_options() - ->set_collate_by_trajectory(true); auto map_builder = absl::make_unique( map_builder_server_options.map_builder_options()); std::unique_ptr map_builder_server = diff --git a/configuration_files/map_builder_server.lua b/configuration_files/map_builder_server.lua index dc73d16..0f8fe3a 100644 --- a/configuration_files/map_builder_server.lua +++ b/configuration_files/map_builder_server.lua @@ -24,3 +24,5 @@ MAP_BUILDER_SERVER = { enable_ssl_encryption = false, enable_google_auth = false, } + +MAP_BUILDER.collate_by_trajectory = true