| 43 | |
| 44 | namespace map_closures { |
| 45 | Config GetConfigFromYAML(const py::dict &yaml_cfg) { |
| 46 | Config cpp_config; |
| 47 | cpp_config.density_threshold = yaml_cfg["density_threshold"].cast<float>(); |
| 48 | cpp_config.density_map_resolution = yaml_cfg["density_map_resolution"].cast<float>(); |
| 49 | cpp_config.hamming_distance_threshold = yaml_cfg["hamming_distance_threshold"].cast<int>(); |
| 50 | return cpp_config; |
| 51 | } |
| 52 | |
| 53 | PYBIND11_MODULE(map_closures_pybind, m) { |
| 54 | auto vector3dvector = pybind_eigen_vector_of_vector<Eigen::Vector3d>( |