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Improves parameter names. (#111)

master
Damon Kohler 2016-10-28 13:26:13 +02:00 committed by GitHub
parent f45eaa9c67
commit b94880c56e
3 changed files with 14 additions and 16 deletions
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16
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -27,12 +27,10 @@ namespace mapping_2d {
proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions( proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
common::LuaParameterDictionary* const parameter_dictionary) { common::LuaParameterDictionary* const parameter_dictionary) {
proto::LocalTrajectoryBuilderOptions options; proto::LocalTrajectoryBuilderOptions options;
options.set_horizontal_laser_min_z( options.set_laser_min_z(parameter_dictionary->GetDouble("laser_min_z"));
parameter_dictionary->GetDouble("horizontal_laser_min_z")); options.set_laser_max_z(parameter_dictionary->GetDouble("laser_max_z"));
options.set_horizontal_laser_max_z( options.set_laser_voxel_filter_size(
parameter_dictionary->GetDouble("horizontal_laser_max_z")); parameter_dictionary->GetDouble("laser_voxel_filter_size"));
options.set_horizontal_laser_voxel_filter_size(
parameter_dictionary->GetDouble("horizontal_laser_voxel_filter_size"));
options.set_use_online_correlative_scan_matching( options.set_use_online_correlative_scan_matching(
parameter_dictionary->GetBool("use_online_correlative_scan_matching")); parameter_dictionary->GetBool("use_online_correlative_scan_matching"));
*options.mutable_adaptive_voxel_filter_options() = *options.mutable_adaptive_voxel_filter_options() =
@ -77,13 +75,13 @@ sensor::LaserFan LocalTrajectoryBuilder::BuildCroppedLaserFan(
const sensor::LaserFan& laser_fan) const { const sensor::LaserFan& laser_fan) const {
const sensor::LaserFan cropped_fan = sensor::CropLaserFan( const sensor::LaserFan cropped_fan = sensor::CropLaserFan(
sensor::TransformLaserFan(laser_fan, tracking_to_tracking_2d), sensor::TransformLaserFan(laser_fan, tracking_to_tracking_2d),
options_.horizontal_laser_min_z(), options_.horizontal_laser_max_z()); options_.laser_min_z(), options_.laser_max_z());
return sensor::LaserFan{ return sensor::LaserFan{
cropped_fan.origin, cropped_fan.origin,
sensor::VoxelFiltered(cropped_fan.returns, sensor::VoxelFiltered(cropped_fan.returns,
options_.horizontal_laser_voxel_filter_size()), options_.laser_voxel_filter_size()),
sensor::VoxelFiltered(cropped_fan.misses, sensor::VoxelFiltered(cropped_fan.misses,
options_.horizontal_laser_voxel_filter_size())}; options_.laser_voxel_filter_size())};
} }
void LocalTrajectoryBuilder::ScanMatch( void LocalTrajectoryBuilder::ScanMatch(

8
cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
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@ -24,13 +24,13 @@ import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.p
import "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto"; import "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
message LocalTrajectoryBuilderOptions { message LocalTrajectoryBuilderOptions {
// Cropping parameters for the horizontal laser fan. // Cropping parameters for the laser fan.
optional float horizontal_laser_min_z = 1; optional float laser_min_z = 1;
optional float horizontal_laser_max_z = 2; optional float laser_max_z = 2;
// Voxel filter that gets applied to the horizontal laser immediately after // Voxel filter that gets applied to the horizontal laser immediately after
// cropping. // cropping.
optional float horizontal_laser_voxel_filter_size = 3; optional float laser_voxel_filter_size = 3;
// Whether to solve the online scan matching first using the correlative scan // Whether to solve the online scan matching first using the correlative scan
// matcher to generate a good starting point for Ceres. // matcher to generate a good starting point for Ceres.

6
configuration_files/trajectory_builder_2d.lua
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@ -14,9 +14,9 @@
TRAJECTORY_BUILDER_2D = { TRAJECTORY_BUILDER_2D = {
use_imu_data = true, use_imu_data = true,
horizontal_laser_min_z = -0.8, laser_min_z = -0.8,
horizontal_laser_max_z = 2., laser_max_z = 2.,
horizontal_laser_voxel_filter_size = 0.025, laser_voxel_filter_size = 0.025,
use_online_correlative_scan_matching = false, use_online_correlative_scan_matching = false,
adaptive_voxel_filter = { adaptive_voxel_filter = {