71 lines
3.1 KiB
C++
71 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_3d/local_trajectory_builder_options_3d.h"
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#include "cartographer/internal/mapping/motion_filter.h"
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#include "cartographer/mapping_2d/scan_matching/real_time_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/submap_3d.h"
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#include "cartographer/sensor/voxel_filter.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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proto::LocalTrajectoryBuilderOptions3D CreateLocalTrajectoryBuilderOptions3D(
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common::LuaParameterDictionary* parameter_dictionary) {
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proto::LocalTrajectoryBuilderOptions3D options;
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options.set_min_range(parameter_dictionary->GetDouble("min_range"));
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options.set_max_range(parameter_dictionary->GetDouble("max_range"));
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options.set_num_accumulated_range_data(
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parameter_dictionary->GetInt("num_accumulated_range_data"));
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options.set_voxel_filter_size(
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parameter_dictionary->GetDouble("voxel_filter_size"));
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*options.mutable_high_resolution_adaptive_voxel_filter_options() =
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sensor::CreateAdaptiveVoxelFilterOptions(
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parameter_dictionary
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->GetDictionary("high_resolution_adaptive_voxel_filter")
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.get());
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*options.mutable_low_resolution_adaptive_voxel_filter_options() =
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sensor::CreateAdaptiveVoxelFilterOptions(
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parameter_dictionary
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->GetDictionary("low_resolution_adaptive_voxel_filter")
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.get());
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options.set_use_online_correlative_scan_matching(
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parameter_dictionary->GetBool("use_online_correlative_scan_matching"));
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*options.mutable_real_time_correlative_scan_matcher_options() =
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mapping_2d::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions(
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parameter_dictionary
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->GetDictionary("real_time_correlative_scan_matcher")
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.get());
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*options.mutable_ceres_scan_matcher_options() =
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mapping_3d::scan_matching::CreateCeresScanMatcherOptions(
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parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
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*options.mutable_motion_filter_options() = CreateMotionFilterOptions(
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parameter_dictionary->GetDictionary("motion_filter").get());
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options.set_imu_gravity_time_constant(
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parameter_dictionary->GetDouble("imu_gravity_time_constant"));
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options.set_rotational_histogram_size(
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parameter_dictionary->GetInt("rotational_histogram_size"));
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*options.mutable_submaps_options() = CreateSubmapsOptions3D(
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parameter_dictionary->GetDictionary("submaps").get());
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return options;
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}
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} // namespace mapping
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} // namespace cartographer
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