50 lines
2.0 KiB
C++
Executable File
50 lines
2.0 KiB
C++
Executable File
/*
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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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#include "cartographer/mapping/range_data_inserter_interface.h"
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#include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
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#include "cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h"
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namespace cartographer {
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namespace mapping {
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proto::RangeDataInserterOptions CreateRangeDataInserterOptions(
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common::LuaParameterDictionary* const parameter_dictionary) {
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proto::RangeDataInserterOptions options;
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const std::string range_data_inserter_type_string =
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parameter_dictionary->GetString("range_data_inserter_type");
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proto::RangeDataInserterOptions_RangeDataInserterType
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range_data_inserter_type;
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CHECK(proto::RangeDataInserterOptions_RangeDataInserterType_Parse(
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range_data_inserter_type_string, &range_data_inserter_type))
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<< "Unknown RangeDataInserterOptions_RangeDataInserterType kind: "
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<< range_data_inserter_type_string;
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options.set_range_data_inserter_type(range_data_inserter_type);
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*options.mutable_probability_grid_range_data_inserter_options_2d() =
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CreateProbabilityGridRangeDataInserterOptions2D(
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parameter_dictionary
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->GetDictionary("probability_grid_range_data_inserter")
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.get());
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*options.mutable_tsdf_range_data_inserter_options_2d() =
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CreateTSDFRangeDataInserterOptions2D(
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parameter_dictionary->GetDictionary("tsdf_range_data_inserter")
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.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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