72 lines
3.2 KiB
C++
72 lines
3.2 KiB
C++
/*
|
|
* Copyright 2016 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#include "cartographer/mapping_3d/local_trajectory_builder_options.h"
|
|
|
|
#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h"
|
|
#include "cartographer/mapping_3d/motion_filter.h"
|
|
#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h"
|
|
#include "cartographer/mapping_3d/submaps.h"
|
|
#include "cartographer/sensor/voxel_filter.h"
|
|
#include "glog/logging.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping_3d {
|
|
|
|
proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
|
|
common::LuaParameterDictionary* const parameter_dictionary) {
|
|
proto::LocalTrajectoryBuilderOptions options;
|
|
options.set_min_range(parameter_dictionary->GetDouble("min_range"));
|
|
options.set_max_range(parameter_dictionary->GetDouble("max_range"));
|
|
options.set_scans_per_accumulation(
|
|
parameter_dictionary->GetInt("scans_per_accumulation"));
|
|
options.set_voxel_filter_size(
|
|
parameter_dictionary->GetDouble("voxel_filter_size"));
|
|
*options.mutable_high_resolution_adaptive_voxel_filter_options() =
|
|
sensor::CreateAdaptiveVoxelFilterOptions(
|
|
parameter_dictionary
|
|
->GetDictionary("high_resolution_adaptive_voxel_filter")
|
|
.get());
|
|
*options.mutable_low_resolution_adaptive_voxel_filter_options() =
|
|
sensor::CreateAdaptiveVoxelFilterOptions(
|
|
parameter_dictionary
|
|
->GetDictionary("low_resolution_adaptive_voxel_filter")
|
|
.get());
|
|
options.set_use_online_correlative_scan_matching(
|
|
parameter_dictionary->GetBool("use_online_correlative_scan_matching"));
|
|
*options.mutable_real_time_correlative_scan_matcher_options() =
|
|
mapping_2d::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions(
|
|
parameter_dictionary
|
|
->GetDictionary("real_time_correlative_scan_matcher")
|
|
.get());
|
|
*options.mutable_ceres_scan_matcher_options() =
|
|
scan_matching::CreateCeresScanMatcherOptions(
|
|
parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
|
|
*options.mutable_motion_filter_options() = CreateMotionFilterOptions(
|
|
parameter_dictionary->GetDictionary("motion_filter").get());
|
|
options.set_imu_gravity_time_constant(
|
|
parameter_dictionary->GetDouble("imu_gravity_time_constant"));
|
|
options.set_num_odometry_states(
|
|
parameter_dictionary->GetNonNegativeInt("num_odometry_states"));
|
|
CHECK_GT(options.num_odometry_states(), 0);
|
|
*options.mutable_submaps_options() = mapping_3d::CreateSubmapsOptions(
|
|
parameter_dictionary->GetDictionary("submaps").get());
|
|
return options;
|
|
}
|
|
|
|
} // namespace mapping_3d
|
|
} // namespace cartographer
|