60 lines
2.2 KiB
C#
60 lines
2.2 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 submaps options for 2D.
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/// </summary>
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public struct SubmapsOptions2D
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{
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/// <summary>
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/// Number of range data before adding a new submap. Each submap will get twice
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/// the number of range data inserted: First for initialization without being
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/// matched against, then while being matched.
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/// </summary>
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[JsonPropertyName("num_range_data")]
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public int NumRangeData { get; set; }
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[JsonPropertyName("grid_options_2d")]
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public GridOptions2D GridOptions2D { get; set; }
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[JsonPropertyName("range_data_inserter_options")]
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public RangeDataInserterOptions RangeDataInserterOptions { get; set; }
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/// <summary>
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/// Optional high resolution grid options for fine-grained Ceres scan matching.
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/// When set, a second grid at higher resolution is maintained per submap and
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/// passed to CeresScanMatcher2D for more precise wall alignment.
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/// </summary>
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[JsonPropertyName("high_res_grid_options_2d")]
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public GridOptions2D? HighResGridOptions2D { get; set; }
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public SubmapsOptions2D(
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int numRangeData,
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GridOptions2D gridOptions2D,
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RangeDataInserterOptions rangeDataInserterOptions,
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GridOptions2D? highResGridOptions2D = null)
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{
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NumRangeData = numRangeData;
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GridOptions2D = gridOptions2D;
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RangeDataInserterOptions = rangeDataInserterOptions;
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HighResGridOptions2D = highResGridOptions2D;
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}
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}
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