61 lines
2.1 KiB
C#
61 lines
2.1 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 map builder options.
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/// </summary>
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public struct MapBuilderOptions
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{
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[JsonPropertyName("use_trajectory_builder_2d")]
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public bool UseTrajectoryBuilder2D { get; set; }
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[JsonPropertyName("use_trajectory_builder_3d")]
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public bool UseTrajectoryBuilder3D { get; set; }
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/// <summary>
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/// Number of threads to use for background computations.
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/// </summary>
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[JsonPropertyName("num_background_threads")]
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public int NumBackgroundThreads { get; set; }
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[JsonPropertyName("pose_graph_options")]
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public PoseGraphOptions PoseGraphOptions { get; set; }
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/// <summary>
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/// Sort sensor input independently for each trajectory.
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/// </summary>
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[JsonPropertyName("collate_by_trajectory")]
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public bool CollateByTrajectory { get; set; }
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public MapBuilderOptions(
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bool useTrajectoryBuilder2D = true,
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bool useTrajectoryBuilder3D = false,
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int numBackgroundThreads = 4,
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PoseGraphOptions? poseGraphOptions = null,
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bool collateByTrajectory = false)
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{
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UseTrajectoryBuilder2D = useTrajectoryBuilder2D;
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UseTrajectoryBuilder3D = useTrajectoryBuilder3D;
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NumBackgroundThreads = numBackgroundThreads;
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PoseGraphOptions = poseGraphOptions ?? new PoseGraphOptions();
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CollateByTrajectory = collateByTrajectory;
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}
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}
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