67 lines
3.1 KiB
C++
67 lines
3.1 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/sparse_pose_graph/constraint_builder.h"
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#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
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#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h"
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#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h"
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#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h"
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#include "cartographer/sensor/voxel_filter.h"
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namespace cartographer {
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namespace mapping {
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namespace sparse_pose_graph {
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proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
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common::LuaParameterDictionary* const parameter_dictionary) {
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proto::ConstraintBuilderOptions options;
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options.set_sampling_ratio(parameter_dictionary->GetDouble("sampling_ratio"));
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options.set_max_constraint_distance(
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parameter_dictionary->GetDouble("max_constraint_distance"));
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*options.mutable_adaptive_voxel_filter_options() =
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sensor::CreateAdaptiveVoxelFilterOptions(
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parameter_dictionary->GetDictionary("adaptive_voxel_filter").get());
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options.set_min_score(parameter_dictionary->GetDouble("min_score"));
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options.set_global_localization_min_score(
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parameter_dictionary->GetDouble("global_localization_min_score"));
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options.set_max_covariance_trace(
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parameter_dictionary->GetDouble("max_covariance_trace"));
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options.set_lower_covariance_eigenvalue_bound(
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parameter_dictionary->GetDouble("lower_covariance_eigenvalue_bound"));
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options.set_log_matches(parameter_dictionary->GetBool("log_matches"));
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*options.mutable_fast_correlative_scan_matcher_options() =
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mapping_2d::scan_matching::CreateFastCorrelativeScanMatcherOptions(
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parameter_dictionary->GetDictionary("fast_correlative_scan_matcher")
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.get());
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*options.mutable_ceres_scan_matcher_options() =
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mapping_2d::scan_matching::CreateCeresScanMatcherOptions(
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parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
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*options.mutable_fast_correlative_scan_matcher_options_3d() =
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mapping_3d::scan_matching::CreateFastCorrelativeScanMatcherOptions(
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parameter_dictionary
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->GetDictionary("fast_correlative_scan_matcher_3d")
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.get());
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*options.mutable_ceres_scan_matcher_options_3d() =
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mapping_3d::scan_matching::CreateCeresScanMatcherOptions(
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parameter_dictionary->GetDictionary("ceres_scan_matcher_3d").get());
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return options;
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}
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} // namespace sparse_pose_graph
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} // namespace mapping
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} // namespace cartographer
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