Add collate_by_trajectory support in lua config (cartographer-proje…

…ct#1334) This commit add support of specifying the option to collate data by trajectory introduced in cartographer-project#828 in the lua configuration files. The value is set to false as when a boolean option is not specified it is initialized to false.
edtan · Mar 8, 2019 · 3b941ee · 3b941ee
1 parent 856e9c9
commit 3b941ee
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diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc
@@ -82,6 +82,8 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
       parameter_dictionary->GetBool("use_trajectory_builder_3d"));
   options.set_num_background_threads(
       parameter_dictionary->GetNonNegativeInt("num_background_threads"));
+  options.set_collate_by_trajectory(
+      parameter_dictionary->GetBool("collate_by_trajectory"));
   *options.mutable_pose_graph_options() = CreatePoseGraphOptions(
       parameter_dictionary->GetDictionary("pose_graph").get());
   CHECK_NE(options.use_trajectory_builder_2d(),

diff --git a/configuration_files/map_builder.lua b/configuration_files/map_builder.lua
@@ -19,4 +19,5 @@ MAP_BUILDER = {
   use_trajectory_builder_3d = false,
   num_background_threads = 4,
   pose_graph = POSE_GRAPH,
+  collate_by_trajectory = false,
 }