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