autogenerate_ground_truth_main.cc File Reference

#include <cmath>
#include <fstream>
#include <string>
#include "cartographer/common/port.h"
#include "cartographer/ground_truth/autogenerate_ground_truth.h"
#include "cartographer/ground_truth/proto/relations.pb.h"
#include "cartographer/io/proto_stream.h"
#include "cartographer/io/proto_stream_deserializer.h"
#include "cartographer/mapping/proto/pose_graph.pb.h"
#include "cartographer/transform/transform.h"
#include "gflags/gflags.h"
#include "glog/logging.h"

Include dependency graph for autogenerate_ground_truth_main.cc:

Go to the source code of this file.

Namespaces
namespace	cartographer
namespace	cartographer::ground_truth
Functions
	DEFINE_double (min_covered_distance, 100.,"Minimum covered distance in meters before a loop closure is ""considered a candidate for autogenerated ground truth.")
	DEFINE_double (outlier_threshold_meters, 0.15,"Distance in meters beyond which constraints are considered ""outliers.")
	DEFINE_double (outlier_threshold_radians, 0.02,"Distance in radians beyond which constraints are considered ""outliers.")
	DEFINE_string (pose_graph_filename,"","Proto stream file containing the pose graph used to generate ""ground truth data.")
	DEFINE_string (output_filename,"","File to write the ground truth proto to.")
int	main (int argc, char **argv)

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Function Documentation

DEFINE_double	(	min_covered_distance	,
		100.	,
		"Minimum covered distance in meters before a loop closure is ""considered a candidate for autogenerated ground truth."
	)

DEFINE_double	(	outlier_threshold_meters	,
		0.	15,
		"Distance in meters beyond which constraints are considered ""outliers."
	)

DEFINE_double	(	outlier_threshold_radians	,
		0.	02,
		"Distance in radians beyond which constraints are considered ""outliers."
	)

DEFINE_string	(	pose_graph_filename	,
		""	,
		"Proto stream file containing the pose graph used to generate ""ground truth data."
	)

DEFINE_string	(	output_filename	,
		""	,
		"File to write the ground truth proto to."
	)

int main	(	int	argc,
		char **	argv
	)

Definition at line 77 of file autogenerate_ground_truth_main.cc.