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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.
master
damienrg 2019-03-08 16:36:53 +01:00 committed by Wally B. Feed
parent 3b941ee126
commit 99bc9e196d
2 changed files with 2 additions and 4 deletions
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4
cartographer/cloud/map_builder_server_main.cc
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@ -50,10 +50,6 @@ void Run(const std::string& configuration_directory,
proto::MapBuilderServerOptions map_builder_server_options = proto::MapBuilderServerOptions map_builder_server_options =
LoadMapBuilderServerOptions(configuration_directory, LoadMapBuilderServerOptions(configuration_directory,
configuration_basename); 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<mapping::MapBuilder>( auto map_builder = absl::make_unique<mapping::MapBuilder>(
map_builder_server_options.map_builder_options()); map_builder_server_options.map_builder_options());
std::unique_ptr<MapBuilderServerInterface> map_builder_server = std::unique_ptr<MapBuilderServerInterface> map_builder_server =

2
configuration_files/map_builder_server.lua
View File

@ -24,3 +24,5 @@ MAP_BUILDER_SERVER = {
enable_ssl_encryption = false, enable_ssl_encryption = false,
enable_google_auth = false, enable_google_auth = false,
} }
MAP_BUILDER.collate_by_trajectory = true