38 lines
1.4 KiB
C
38 lines
1.4 KiB
C
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/*
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* Copyright 2018 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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#ifndef CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H_
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#define CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H_
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#include "cartographer/ground_truth/proto/relations.pb.h"
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#include "cartographer/mapping/proto/pose_graph.pb.h"
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namespace cartographer {
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namespace ground_truth {
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// Generates GroundTruth proto from the given pose graph using the specified
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// criteria parameters. See
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// 'https://google-cartographer.readthedocs.io/en/latest/evaluation.html' for
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// more details.
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proto::GroundTruth GenerateGroundTruth(
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const mapping::proto::PoseGraph& pose_graph, double min_covered_distance,
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double outlier_threshold_meters, double outlier_threshold_radians);
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} // namespace ground_truth
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} // namespace cartographer
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#endif // CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H
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