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Rename to local/global map frame. (#2) 

Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
master
Wolfgang Hess 2016-08-10 12:09:52 +02:00 committed by GitHub
parent aa7b060ac5
commit 6e56578394
6 changed files with 11 additions and 11 deletions
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3
cartographer/mapping/global_trajectory_builder_interface.h
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@ -44,8 +44,7 @@ class GlobalTrajectoryBuilderInterface {
// 3. UKF estimate after integrating any measurements // 3. UKF estimate after integrating any measurements
// //
// Finally, 'pose' is the end-user visualization of orientation and // Finally, 'pose' is the end-user visualization of orientation and
// 'point_cloud' is the point cloud, in the odometry frame, used to make // 'point_cloud' is the point cloud, in the local map frame.
// this estimate.
struct PoseEstimate { struct PoseEstimate {
PoseEstimate() = default; PoseEstimate() = default;
PoseEstimate(common::Time time, PoseEstimate(common::Time time,

7
cartographer/mapping/sparse_pose_graph.h
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@ -106,9 +106,10 @@ class SparsePoseGraph {
virtual std::vector<transform::Rigid3d> GetSubmapTransforms( virtual std::vector<transform::Rigid3d> GetSubmapTransforms(
const Submaps& submaps) = 0; const Submaps& submaps) = 0;
// Returns the transform converting from odometry based transforms to the // Returns the transform converting data in the local map frame (i.e. the
// optimized world. // continuous, non-loop-closed frame) into the global map frame (i.e. the
virtual transform::Rigid3d GetOdometryToMapTransform( // discontinuous, loop-closed frame).
virtual transform::Rigid3d GetLocalToGlobalTransform(
const mapping::Submaps& submaps) = 0; const mapping::Submaps& submaps) = 0;
// Returns the current optimized trajectory. // Returns the current optimized trajectory.

4
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -90,7 +90,7 @@ void SparsePoseGraph::AddScan(
const mapping::Submaps* submaps, const mapping::Submaps* submaps,
const mapping::Submap* const matching_submap, const mapping::Submap* const matching_submap,
const std::vector<const mapping::Submap*>& insertion_submaps) { const std::vector<const mapping::Submap*>& insertion_submaps) {
const transform::Rigid3d optimized_pose(GetOdometryToMapTransform(*submaps) * const transform::Rigid3d optimized_pose(GetLocalToGlobalTransform(*submaps) *
transform::Embed3D(pose)); transform::Embed3D(pose));
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
@ -393,7 +393,7 @@ std::vector<SparsePoseGraph::Constraint3D> SparsePoseGraph::constraints_3d() {
return {}; return {};
} }
transform::Rigid3d SparsePoseGraph::GetOdometryToMapTransform( transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
const mapping::Submaps& submaps) { const mapping::Submaps& submaps) {
return GetSubmapTransforms(submaps).back() * return GetSubmapTransforms(submaps).back() *
submaps.Get(submaps.size() - 1)->local_pose().inverse(); submaps.Get(submaps.size() - 1)->local_pose().inverse();

2
cartographer/mapping_2d/sparse_pose_graph.h
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@ -86,7 +86,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
override; override;
std::vector<transform::Rigid3d> GetSubmapTransforms( std::vector<transform::Rigid3d> GetSubmapTransforms(
const mapping::Submaps& submaps) EXCLUDES(mutex_) override; const mapping::Submaps& submaps) EXCLUDES(mutex_) override;
transform::Rigid3d GetOdometryToMapTransform(const mapping::Submaps& submaps) transform::Rigid3d GetLocalToGlobalTransform(const mapping::Submaps& submaps)
EXCLUDES(mutex_) override; EXCLUDES(mutex_) override;
std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
EXCLUDES(mutex_); EXCLUDES(mutex_);

4
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -88,7 +88,7 @@ int SparsePoseGraph::AddScan(
const kalman_filter::PoseCovariance& covariance, const Submaps* submaps, const kalman_filter::PoseCovariance& covariance, const Submaps* submaps,
const Submap* const matching_submap, const Submap* const matching_submap,
const std::vector<const Submap*>& insertion_submaps) { const std::vector<const Submap*>& insertion_submaps) {
const transform::Rigid3d optimized_pose(GetOdometryToMapTransform(*submaps) * const transform::Rigid3d optimized_pose(GetLocalToGlobalTransform(*submaps) *
pose); pose);
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
@ -401,7 +401,7 @@ std::vector<SparsePoseGraph::Constraint3D> SparsePoseGraph::constraints_3d() {
return constraints_; return constraints_;
} }
transform::Rigid3d SparsePoseGraph::GetOdometryToMapTransform( transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
const mapping::Submaps& submaps) { const mapping::Submaps& submaps) {
return GetSubmapTransforms(submaps).back() * return GetSubmapTransforms(submaps).back() *
submaps.Get(submaps.size() - 1)->local_pose().inverse(); submaps.Get(submaps.size() - 1)->local_pose().inverse();

2
cartographer/mapping_3d/sparse_pose_graph.h
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@ -89,7 +89,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
override; override;
std::vector<transform::Rigid3d> GetSubmapTransforms( std::vector<transform::Rigid3d> GetSubmapTransforms(
const mapping::Submaps& submaps) EXCLUDES(mutex_) override; const mapping::Submaps& submaps) EXCLUDES(mutex_) override;
transform::Rigid3d GetOdometryToMapTransform(const mapping::Submaps& submaps) transform::Rigid3d GetLocalToGlobalTransform(const mapping::Submaps& submaps)
EXCLUDES(mutex_) override; EXCLUDES(mutex_) override;
std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
EXCLUDES(mutex_); EXCLUDES(mutex_);