44 lines
1.6 KiB
C++
Executable File
44 lines
1.6 KiB
C++
Executable File
/*
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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/map_builder_interface.h"
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#include "cartographer/mapping/pose_graph.h"
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namespace cartographer {
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namespace mapping {
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proto::MapBuilderOptions CreateMapBuilderOptions(
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common::LuaParameterDictionary* const parameter_dictionary) {
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proto::MapBuilderOptions options;
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options.set_use_trajectory_builder_2d(
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parameter_dictionary->GetBool("use_trajectory_builder_2d"));
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options.set_use_trajectory_builder_3d(
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parameter_dictionary->GetBool("use_trajectory_builder_3d"));
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options.set_num_background_threads(
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parameter_dictionary->GetNonNegativeInt("num_background_threads"));
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options.set_collate_by_trajectory(
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parameter_dictionary->GetBool("collate_by_trajectory"));
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*options.mutable_pose_graph_options() = CreatePoseGraphOptions(
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parameter_dictionary->GetDictionary("pose_graph").get());
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CHECK_NE(options.use_trajectory_builder_2d(),
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options.use_trajectory_builder_3d());
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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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