00001 /* 00002 * Copyright 2018 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H_ 00018 #define CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H_ 00019 00020 #include "cartographer/ground_truth/proto/relations.pb.h" 00021 #include "cartographer/mapping/proto/pose_graph.pb.h" 00022 00023 namespace cartographer { 00024 namespace ground_truth { 00025 00026 // Generates GroundTruth proto from the given pose graph using the specified 00027 // criteria parameters. See 00028 // 'https://google-cartographer.readthedocs.io/en/latest/evaluation.html' for 00029 // more details. 00030 proto::GroundTruth GenerateGroundTruth( 00031 const mapping::proto::PoseGraph& pose_graph, double min_covered_distance, 00032 double outlier_threshold_meters, double outlier_threshold_radians); 00033 00034 } // namespace ground_truth 00035 } // namespace cartographer 00036 00037 #endif // CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H