text: /*
   * Copyright 2018 The Cartographer Authors
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *      http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  #ifndef CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H_
  #define CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H_
  
  #include "cartographer/ground_truth/proto/relations.pb.h"
  #include "cartographer/mapping/proto/pose_graph.pb.h"
  
  namespace cartographer {
  namespace ground_truth {
  
  // Generates GroundTruth proto from the given pose graph using the specified
  // criteria parameters. See
  // 'https://google-cartographer.readthedocs.io/en/latest/evaluation.html' for
  // more details.
  proto::GroundTruth GenerateGroundTruth(
      const mapping::proto::PoseGraph& pose_graph, double min_covered_distance,
      double outlier_threshold_meters, double outlier_threshold_radians);
  
  }  // namespace ground_truth
  }  // namespace cartographer
  
  #endif  // CARTOGRAPHER_GROUND_TRUTH_AUTOGENERATE_GROUND_TRUTH_H
  