107 lines
3.8 KiB
C#
107 lines
3.8 KiB
C#
/*
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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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using System.Text.Json.Serialization;
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namespace CartographerSharp.Models.Mapping;
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/// <summary>
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/// Protocol buffer representation of constraint builder options.
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/// </summary>
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public struct ConstraintBuilderOptions
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{
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/// <summary>
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/// A constraint will be added if the proportion of added constraints to
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/// potential constraints drops below this number.
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/// </summary>
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[JsonPropertyName("sampling_ratio")]
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public double SamplingRatio { get; set; }
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/// <summary>
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/// Threshold for poses to be considered near a submap.
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/// </summary>
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[JsonPropertyName("max_constraint_distance")]
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public double MaxConstraintDistance { get; set; }
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/// <summary>
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/// Threshold for the scan match score below which a match is not considered.
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/// Low scores indicate that the scan and map do not look similar.
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/// </summary>
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[JsonPropertyName("min_score")]
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public double MinScore { get; set; }
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/// <summary>
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/// Threshold below which global localizations are not trusted.
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/// </summary>
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[JsonPropertyName("global_localization_min_score")]
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public double GlobalLocalizationMinScore { get; set; }
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/// <summary>
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/// Weight used in the optimization problem for the translational component of
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/// loop closure constraints.
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/// </summary>
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[JsonPropertyName("loop_closure_translation_weight")]
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public double LoopClosureTranslationWeight { get; set; }
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/// <summary>
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/// Weight used in the optimization problem for the rotational component of
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/// loop closure constraints.
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/// </summary>
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[JsonPropertyName("loop_closure_rotation_weight")]
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public double LoopClosureRotationWeight { get; set; }
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/// <summary>
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/// If enabled, logs information of loop-closing constraints for debugging.
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/// </summary>
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[JsonPropertyName("log_matches")]
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public bool LogMatches { get; set; }
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/// <summary>
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/// Options for the fast correlative scan matcher (2D).
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/// </summary>
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[JsonPropertyName("fast_correlative_scan_matcher_options")]
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public FastCorrelativeScanMatcherOptions2D? FastCorrelativeScanMatcherOptions { get; set; }
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/// <summary>
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/// Options for the Ceres scan matcher (2D).
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/// </summary>
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[JsonPropertyName("ceres_scan_matcher_options")]
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public CeresScanMatcherOptions2D? CeresScanMatcherOptions { get; set; }
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/// <summary>
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/// Options for the fast correlative scan matcher (3D).
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/// </summary>
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[JsonPropertyName("fast_correlative_scan_matcher_options_3d")]
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public FastCorrelativeScanMatcherOptions3D? FastCorrelativeScanMatcherOptions3D { get; set; }
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/// <summary>
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/// Options for the Ceres scan matcher (3D).
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/// </summary>
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[JsonPropertyName("ceres_scan_matcher_options_3d")]
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public CeresScanMatcherOptions3D? CeresScanMatcherOptions3D { get; set; }
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public ConstraintBuilderOptions()
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{
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SamplingRatio = 0.3;
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MaxConstraintDistance = 15.0;
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MinScore = 0.55;
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GlobalLocalizationMinScore = 0.6;
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LoopClosureTranslationWeight = 1.1e4;
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LoopClosureRotationWeight = 1.0;
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LogMatches = true;
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}
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}
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