#include <cmath>
#include <fstream>
#include <string>
#include "cartographer/common/port.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:

Namespaces
	cartographer

	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)

Function Documentation

◆ DEFINE_double() [1/3]

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() [2/3]

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

◆ DEFINE_double() [3/3]

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

◆ DEFINE_string() [1/2]

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

◆ DEFINE_string() [2/2]

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

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 197 of file autogenerate_ground_truth_main.cc.

Namespaces