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Read missing option fix_z_in_3d in OptimizationProblemOptions. (#1440)

master
Kevin Daun 2018-10-10 11:33:22 +02:00 committed by Alexander Belyaev
parent 5e11365749
commit de4886ea4e
4 changed files with 4 additions and 0 deletions
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1
cartographer/mapping/internal/2d/pose_graph_2d_test.cc
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@ -144,6 +144,7 @@ class PoseGraph2DTest : public ::testing::Test {
fixed_frame_pose_rotation_weight = 1e2, fixed_frame_pose_rotation_weight = 1e2,
log_solver_summary = true, log_solver_summary = true,
use_online_imu_extrinsics_in_3d = true, use_online_imu_extrinsics_in_3d = true,
fix_z_in_3d = false,
ceres_solver_options = { ceres_solver_options = {
use_nonmonotonic_steps = false, use_nonmonotonic_steps = false,
max_num_iterations = 200, max_num_iterations = 200,

1
cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc
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@ -50,6 +50,7 @@ class OptimizationProblem3DTest : public ::testing::Test {
fixed_frame_pose_rotation_weight = 1e2, fixed_frame_pose_rotation_weight = 1e2,
log_solver_summary = true, log_solver_summary = true,
use_online_imu_extrinsics_in_3d = true, use_online_imu_extrinsics_in_3d = true,
fix_z_in_3d = false,
ceres_solver_options = { ceres_solver_options = {
use_nonmonotonic_steps = false, use_nonmonotonic_steps = false,
max_num_iterations = 200, max_num_iterations = 200,

1
cartographer/mapping/internal/optimization/optimization_problem_options.cc
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@ -46,6 +46,7 @@ proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
parameter_dictionary->GetBool("log_solver_summary")); parameter_dictionary->GetBool("log_solver_summary"));
options.set_use_online_imu_extrinsics_in_3d( options.set_use_online_imu_extrinsics_in_3d(
parameter_dictionary->GetBool("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() = *options.mutable_ceres_solver_options() =
common::CreateCeresSolverOptionsProto( common::CreateCeresSolverOptionsProto(
parameter_dictionary->GetDictionary("ceres_solver_options").get()); parameter_dictionary->GetDictionary("ceres_solver_options").get());

1
configuration_files/pose_graph.lua
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@ -73,6 +73,7 @@ POSE_GRAPH = {
fixed_frame_pose_rotation_weight = 1e2, fixed_frame_pose_rotation_weight = 1e2,
log_solver_summary = false, log_solver_summary = false,
use_online_imu_extrinsics_in_3d = true, use_online_imu_extrinsics_in_3d = true,
fix_z_in_3d = false,
ceres_solver_options = { ceres_solver_options = {
use_nonmonotonic_steps = false, use_nonmonotonic_steps = false,
max_num_iterations = 50, max_num_iterations = 50,