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Configurable frame IDs in trajectory_comparison_main.cc (#1120) 

Fixes also the other flag descriptions.
master
Michael Grupp 2018-12-06 12:48:28 +01:00 committed by Andre Gaschler
parent 94cc7f7ab2
commit 72949a7153
1 changed files with 10 additions and 5 deletions
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15
cartographer_ros/cartographer_ros/dev/trajectory_comparison_main.cc
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@ -36,10 +36,15 @@
#include "tf2_msgs/TFMessage.h"
DEFINE_string(bag_filename, "",
"Bags to process, must be in the same order as the trajectories "
"in 'pose_graph_filename'.");
"Bag file containing TF messages of the trajectory that will be "
"compared against the trajectory in the .pbstream file.");
DEFINE_string(tf_parent_frame, "map",
"The parent frame ID of the TF trajectory from the bag file.");
DEFINE_string(tf_child_frame, "base_link",
"The child frame ID of the TF trajectory from the bag file.");
DEFINE_string(pbstream_filename, "",
"Proto stream file containing the pose graph.");
"Proto stream file containing the pose graph. The last "
"trajectory will be used for comparison.");
namespace cartographer_ros {
namespace {
@ -84,8 +89,8 @@ void Run(const std::string& pbstream_filename,
}
auto tf_message = message.instantiate<tf2_msgs::TFMessage>();
for (const auto& transform : tf_message->transforms) {
if (transform.header.frame_id != "map" ||
transform.child_frame_id != "base_link") {
if (transform.header.frame_id != FLAGS_tf_parent_frame ||
transform.child_frame_id != FLAGS_tf_child_frame) {
continue;
}
const cartographer::common::Time transform_time =