65 lines
2.9 KiB
C++
65 lines
2.9 KiB
C++
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/*
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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/internal/optimization/optimization_problem_options.h"
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#include "cartographer/common/internal/ceres_solver_options.h"
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namespace cartographer {
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namespace mapping {
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namespace optimization {
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proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
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common::LuaParameterDictionary* const parameter_dictionary) {
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proto::OptimizationProblemOptions options;
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options.set_huber_scale(parameter_dictionary->GetDouble("huber_scale"));
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options.set_acceleration_weight(
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parameter_dictionary->GetDouble("acceleration_weight"));
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options.set_rotation_weight(
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parameter_dictionary->GetDouble("rotation_weight"));
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options.set_odometry_translation_weight(
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parameter_dictionary->GetDouble("odometry_translation_weight"));
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options.set_odometry_rotation_weight(
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parameter_dictionary->GetDouble("odometry_rotation_weight"));
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options.set_local_slam_pose_translation_weight(
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parameter_dictionary->GetDouble("local_slam_pose_translation_weight"));
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options.set_local_slam_pose_rotation_weight(
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parameter_dictionary->GetDouble("local_slam_pose_rotation_weight"));
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options.set_fixed_frame_pose_translation_weight(
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parameter_dictionary->GetDouble("fixed_frame_pose_translation_weight"));
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options.set_fixed_frame_pose_rotation_weight(
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parameter_dictionary->GetDouble("fixed_frame_pose_rotation_weight"));
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options.set_fixed_frame_pose_use_tolerant_loss(
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parameter_dictionary->GetBool("fixed_frame_pose_use_tolerant_loss"));
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options.set_fixed_frame_pose_tolerant_loss_param_a(
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parameter_dictionary->GetDouble("fixed_frame_pose_tolerant_loss_param_a"));
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options.set_fixed_frame_pose_tolerant_loss_param_b(
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parameter_dictionary->GetDouble("fixed_frame_pose_tolerant_loss_param_b"));
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options.set_log_solver_summary(
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parameter_dictionary->GetBool("log_solver_summary"));
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options.set_use_online_imu_extrinsics_in_3d(
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parameter_dictionary->GetBool("use_online_imu_extrinsics_in_3d"));
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options.set_fix_z_in_3d(parameter_dictionary->GetBool("fix_z_in_3d"));
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*options.mutable_ceres_solver_options() =
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common::CreateCeresSolverOptionsProto(
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parameter_dictionary->GetDictionary("ceres_solver_options").get());
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return options;
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}
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} // namespace optimization
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} // namespace mapping
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} // namespace cartographer
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