From de4886ea4eddeda75ed424895603abbaed1e8e5a Mon Sep 17 00:00:00 2001 From: Kevin Daun Date: Wed, 10 Oct 2018 11:33:22 +0200 Subject: [PATCH] Read missing option fix_z_in_3d in OptimizationProblemOptions. (#1440) --- cartographer/mapping/internal/2d/pose_graph_2d_test.cc | 1 + .../internal/optimization/optimization_problem_3d_test.cc | 1 + .../internal/optimization/optimization_problem_options.cc | 1 + configuration_files/pose_graph.lua | 1 + 4 files changed, 4 insertions(+) diff --git a/cartographer/mapping/internal/2d/pose_graph_2d_test.cc b/cartographer/mapping/internal/2d/pose_graph_2d_test.cc index 79bed90..f5e88ec 100644 --- a/cartographer/mapping/internal/2d/pose_graph_2d_test.cc +++ b/cartographer/mapping/internal/2d/pose_graph_2d_test.cc @@ -144,6 +144,7 @@ class PoseGraph2DTest : public ::testing::Test { fixed_frame_pose_rotation_weight = 1e2, log_solver_summary = true, use_online_imu_extrinsics_in_3d = true, + fix_z_in_3d = false, ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 200, diff --git a/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc b/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc index 1231f1f..4e3a129 100644 --- a/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc +++ b/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc @@ -50,6 +50,7 @@ class OptimizationProblem3DTest : public ::testing::Test { fixed_frame_pose_rotation_weight = 1e2, log_solver_summary = true, use_online_imu_extrinsics_in_3d = true, + fix_z_in_3d = false, ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 200, diff --git a/cartographer/mapping/internal/optimization/optimization_problem_options.cc b/cartographer/mapping/internal/optimization/optimization_problem_options.cc index fb2e443..f329217 100644 --- a/cartographer/mapping/internal/optimization/optimization_problem_options.cc +++ b/cartographer/mapping/internal/optimization/optimization_problem_options.cc @@ -46,6 +46,7 @@ proto::OptimizationProblemOptions CreateOptimizationProblemOptions( parameter_dictionary->GetBool("log_solver_summary")); options.set_use_online_imu_extrinsics_in_3d( parameter_dictionary->GetBool("use_online_imu_extrinsics_in_3d")); + options.set_fix_z_in_3d(parameter_dictionary->GetBool("fix_z_in_3d")); *options.mutable_ceres_solver_options() = common::CreateCeresSolverOptionsProto( parameter_dictionary->GetDictionary("ceres_solver_options").get()); diff --git a/configuration_files/pose_graph.lua b/configuration_files/pose_graph.lua index e2ae45d..797e407 100644 --- a/configuration_files/pose_graph.lua +++ b/configuration_files/pose_graph.lua @@ -73,6 +73,7 @@ POSE_GRAPH = { fixed_frame_pose_rotation_weight = 1e2, log_solver_summary = false, use_online_imu_extrinsics_in_3d = true, + fix_z_in_3d = false, ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 50,