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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
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How to use Overlapping Submaps Trimmer 2D? #1795

Closed CumaOzavci closed 3 years ago

CumaOzavci commented 3 years ago

I am trying to use Overlapping Submaps Trimmer 2D. After adding following lines to .lua file nothing happens. 

MAP_BUILDER.pose_graph.overlapping_submaps_trimmer_2d = {
  fresh_submaps_count = 3,
  min_covered_area = 1.0,
  min_added_submaps_count = 5
}

I tried to debug the problem and found that no matter what i set parameters, following line won't be true. https://github.com/cartographer-project/cartographer/blob/fdcf0eb0df72b2eb7ae30c08c873b5ab2b855239/cartographer/mapping/internal/2d/pose_graph_2d.cc#L60


By making hardcoded changes to related files, I can use Overlapping Submaps Trimmer 2D but it is clear that i miss something. Any help would be appreciated.

CumaOzavci commented 3 years ago

I should have used it without "MAP_BUILDER". 

POSE_GRAPH.overlapping_submaps_trimmer_2d = {
  fresh_submaps_count = 3,
  min_covered_area = 1.0,
  min_added_submaps_count = 5
}

If you use "MAP_BUILDER", Cartographer won't give an error but won't use Overlapping Submaps Trimmer either.