Rename CompressedLaserFan to CompressedRangeData. (#223)
CompressedLaserFan is misleading since data can come from a different type of sensor, e.g. a depth camera.master
parent
c78f29fdac
commit
a2abe45542
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@ -38,8 +38,8 @@ struct TrajectoryNode {
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// LaserFan in 'pose' frame. Only used in the 2D case.
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// LaserFan in 'pose' frame. Only used in the 2D case.
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sensor::LaserFan laser_fan_2d;
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sensor::LaserFan laser_fan_2d;
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// LaserFan in 'pose' frame. Only used in the 3D case.
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// Range data in 'pose' frame. Only used in the 3D case.
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sensor::CompressedLaserFan laser_fan_3d;
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sensor::CompressedRangeData range_data_3d;
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// Trajectory this node belongs to.
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// Trajectory this node belongs to.
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// TODO(macmason): The naming here is confusing because 'trajectory'
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// TODO(macmason): The naming here is confusing because 'trajectory'
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@ -23,9 +23,9 @@
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#include "Eigen/Core"
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "Eigen/Geometry"
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#include "cartographer/common/math.h"
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#include "cartographer/common/math.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer/mapping_2d/proto/map_limits.pb.h"
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#include "cartographer/mapping_2d/proto/map_limits.pb.h"
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#include "cartographer/mapping_2d/xy_index.h"
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#include "cartographer/mapping_2d/xy_index.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer/sensor/laser.h"
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#include "cartographer/sensor/laser.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/rigid_transform.h"
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@ -79,8 +79,9 @@ class MapLimits {
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// Returns true of the ProbabilityGrid contains 'xy_index'.
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// Returns true of the ProbabilityGrid contains 'xy_index'.
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bool Contains(const Eigen::Array2i& xy_index) const {
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bool Contains(const Eigen::Array2i& xy_index) const {
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return (Eigen::Array2i(0, 0) <= xy_index).all() &&
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return (Eigen::Array2i(0, 0) <= xy_index).all() &&
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(xy_index < Eigen::Array2i(cell_limits_.num_x_cells,
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(xy_index <
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cell_limits_.num_y_cells)).all();
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Eigen::Array2i(cell_limits_.num_x_cells, cell_limits_.num_y_cells))
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.all();
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}
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}
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// Computes MapLimits that contain the origin, and all laser rays (both
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// Computes MapLimits that contain the origin, and all laser rays (both
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@ -106,9 +107,9 @@ class MapLimits {
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Eigen::AlignedBox2f bounding_box(Eigen::Vector2f::Zero());
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Eigen::AlignedBox2f bounding_box(Eigen::Vector2f::Zero());
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for (const auto& node : trajectory_nodes) {
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for (const auto& node : trajectory_nodes) {
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const auto& data = *node.constant_data;
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const auto& data = *node.constant_data;
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if (!data.laser_fan_3d.returns.empty()) {
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if (!data.range_data_3d.returns.empty()) {
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const sensor::LaserFan laser_fan = sensor::TransformLaserFan(
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const sensor::LaserFan laser_fan = sensor::TransformLaserFan(
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Decompress(data.laser_fan_3d), node.pose.cast<float>());
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Decompress(data.range_data_3d), node.pose.cast<float>());
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bounding_box.extend(laser_fan.origin.head<2>());
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bounding_box.extend(laser_fan.origin.head<2>());
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for (const Eigen::Vector3f& hit : laser_fan.returns) {
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for (const Eigen::Vector3f& hit : laser_fan.returns) {
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bounding_box.extend(hit.head<2>());
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bounding_box.extend(hit.head<2>());
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@ -27,10 +27,10 @@
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#include "cartographer/common/math.h"
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#include "cartographer/common/math.h"
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#include "cartographer/common/port.h"
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/probability_values.h"
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#include "cartographer/mapping_2d/map_limits.h"
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#include "cartographer/mapping_2d/map_limits.h"
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#include "cartographer/mapping_2d/proto/probability_grid.pb.h"
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#include "cartographer/mapping_2d/proto/probability_grid.pb.h"
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#include "cartographer/mapping_2d/xy_index.h"
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#include "cartographer/mapping_2d/xy_index.h"
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#include "cartographer/mapping/probability_values.h"
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#include "glog/logging.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace cartographer {
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@ -123,8 +123,7 @@ class ProbabilityGrid {
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// Returns true if the probability at the specified index is known.
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// Returns true if the probability at the specified index is known.
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bool IsKnown(const Eigen::Array2i& xy_index) const {
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bool IsKnown(const Eigen::Array2i& xy_index) const {
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return limits_.Contains(xy_index) &&
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return limits_.Contains(xy_index) && cells_[GetIndexOfCell(xy_index)] !=
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cells_[GetIndexOfCell(xy_index)] !=
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mapping::kUnknownProbabilityValue;
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mapping::kUnknownProbabilityValue;
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}
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}
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@ -146,26 +146,35 @@ TEST(ProbabilityGridTest, GetXYIndexOfCellContainingPoint) {
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const CellLimits& cell_limits = limits.cell_limits();
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const CellLimits& cell_limits = limits.cell_limits();
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ASSERT_EQ(14, cell_limits.num_x_cells);
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ASSERT_EQ(14, cell_limits.num_x_cells);
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ASSERT_EQ(8, cell_limits.num_y_cells);
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ASSERT_EQ(8, cell_limits.num_y_cells);
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EXPECT_TRUE((Eigen::Array2i(0, 0) ==
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EXPECT_TRUE(
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limits.GetXYIndexOfCellContainingPoint(7, 13)).all());
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(Eigen::Array2i(0, 0) == limits.GetXYIndexOfCellContainingPoint(7, 13))
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EXPECT_TRUE((Eigen::Array2i(13, 0) ==
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.all());
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limits.GetXYIndexOfCellContainingPoint(7, -13)).all());
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EXPECT_TRUE(
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EXPECT_TRUE((Eigen::Array2i(0, 7) ==
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(Eigen::Array2i(13, 0) == limits.GetXYIndexOfCellContainingPoint(7, -13))
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limits.GetXYIndexOfCellContainingPoint(-7, 13)).all());
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.all());
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EXPECT_TRUE((Eigen::Array2i(13, 7) ==
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EXPECT_TRUE(
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limits.GetXYIndexOfCellContainingPoint(-7, -13)).all());
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(Eigen::Array2i(0, 7) == limits.GetXYIndexOfCellContainingPoint(-7, 13))
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.all());
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EXPECT_TRUE(
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(Eigen::Array2i(13, 7) == limits.GetXYIndexOfCellContainingPoint(-7, -13))
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.all());
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// Check around the origin.
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// Check around the origin.
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EXPECT_TRUE((Eigen::Array2i(6, 3) ==
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EXPECT_TRUE(
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limits.GetXYIndexOfCellContainingPoint(0.5, 0.5)).all());
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(Eigen::Array2i(6, 3) == limits.GetXYIndexOfCellContainingPoint(0.5, 0.5))
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EXPECT_TRUE((Eigen::Array2i(6, 3) ==
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.all());
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limits.GetXYIndexOfCellContainingPoint(1.5, 1.5)).all());
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EXPECT_TRUE(
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(Eigen::Array2i(6, 3) == limits.GetXYIndexOfCellContainingPoint(1.5, 1.5))
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.all());
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EXPECT_TRUE((Eigen::Array2i(7, 3) ==
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EXPECT_TRUE((Eigen::Array2i(7, 3) ==
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limits.GetXYIndexOfCellContainingPoint(0.5, -0.5)).all());
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limits.GetXYIndexOfCellContainingPoint(0.5, -0.5))
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.all());
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EXPECT_TRUE((Eigen::Array2i(6, 4) ==
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EXPECT_TRUE((Eigen::Array2i(6, 4) ==
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limits.GetXYIndexOfCellContainingPoint(-0.5, 0.5)).all());
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limits.GetXYIndexOfCellContainingPoint(-0.5, 0.5))
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.all());
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EXPECT_TRUE((Eigen::Array2i(7, 4) ==
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EXPECT_TRUE((Eigen::Array2i(7, 4) ==
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limits.GetXYIndexOfCellContainingPoint(-0.5, -0.5)).all());
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limits.GetXYIndexOfCellContainingPoint(-0.5, -0.5))
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.all());
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}
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}
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TEST(ProbabilityGridTest, CorrectCropping) {
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TEST(ProbabilityGridTest, CorrectCropping) {
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@ -311,7 +311,8 @@ void SparsePoseGraph::WaitForAllComputations() {
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std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
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std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
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}
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}
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std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
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std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
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constraint_builder_.WhenDone([this, ¬ification](
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constraint_builder_.WhenDone(
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[this, ¬ification](
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const sparse_pose_graph::ConstraintBuilder::Result& result) {
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const sparse_pose_graph::ConstraintBuilder::Result& result) {
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constraints_.insert(constraints_.end(), result.begin(), result.end());
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constraints_.insert(constraints_.end(), result.begin(), result.end());
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common::MutexLocker locker(&mutex_);
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common::MutexLocker locker(&mutex_);
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@ -27,8 +27,8 @@
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/math.h"
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#include "cartographer/common/math.h"
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#include "cartographer/common/port.h"
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#include "cartographer/common/port.h"
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#include "cartographer/mapping_3d/proto/hybrid_grid.pb.h"
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#include "cartographer/mapping/probability_values.h"
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#include "cartographer/mapping/probability_values.h"
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#include "cartographer/mapping_3d/proto/hybrid_grid.pb.h"
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#include "cartographer/transform/transform.h"
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#include "cartographer/transform/transform.h"
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#include "glog/logging.h"
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#include "glog/logging.h"
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@ -151,7 +151,7 @@ RotationalScanMatcher::RotationalScanMatcher(
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for (const mapping::TrajectoryNode& node : nodes) {
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for (const mapping::TrajectoryNode& node : nodes) {
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AddValuesToHistogram(
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AddValuesToHistogram(
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GetValuesForHistogram(sensor::TransformPointCloud(
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GetValuesForHistogram(sensor::TransformPointCloud(
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node.constant_data->laser_fan_3d.returns.Decompress(),
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node.constant_data->range_data_3d.returns.Decompress(),
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node.pose.cast<float>())),
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node.pose.cast<float>())),
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0.f, &histogram_);
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0.f, &histogram_);
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}
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}
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@ -302,7 +302,8 @@ void SparsePoseGraph::WaitForAllComputations() {
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std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
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std::cout << "\r\x1b[K" << progress_info.str() << std::flush;
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}
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}
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std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
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std::cout << "\r\x1b[KOptimizing: Done. " << std::endl;
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constraint_builder_.WhenDone([this, ¬ification](
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constraint_builder_.WhenDone(
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[this, ¬ification](
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const sparse_pose_graph::ConstraintBuilder::Result& result) {
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const sparse_pose_graph::ConstraintBuilder::Result& result) {
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constraints_.insert(constraints_.end(), result.begin(), result.end());
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constraints_.insert(constraints_.end(), result.begin(), result.end());
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common::MutexLocker locker(&mutex_);
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common::MutexLocker locker(&mutex_);
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@ -94,7 +94,7 @@ void ConstraintBuilder::MaybeAddConstraint(
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++pending_computations_[current_computation_];
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++pending_computations_[current_computation_];
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const int current_computation = current_computation_;
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const int current_computation = current_computation_;
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const auto* const point_cloud =
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const auto* const point_cloud =
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&trajectory_nodes[scan_index].constant_data->laser_fan_3d.returns;
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&trajectory_nodes[scan_index].constant_data->range_data_3d.returns;
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ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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submap_index, submap_nodes, &submap->high_resolution_hybrid_grid,
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submap_index, submap_nodes, &submap->high_resolution_hybrid_grid,
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[=]() EXCLUDES(mutex_) {
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[=]() EXCLUDES(mutex_) {
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@ -124,7 +124,7 @@ void ConstraintBuilder::MaybeAddGlobalConstraint(
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++pending_computations_[current_computation_];
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++pending_computations_[current_computation_];
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const int current_computation = current_computation_;
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const int current_computation = current_computation_;
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const auto* const point_cloud =
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const auto* const point_cloud =
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&trajectory_nodes[scan_index].constant_data->laser_fan_3d.returns;
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&trajectory_nodes[scan_index].constant_data->range_data_3d.returns;
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ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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submap_index, submap_nodes, &submap->high_resolution_hybrid_grid,
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submap_index, submap_nodes, &submap->high_resolution_hybrid_grid,
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[=]() EXCLUDES(mutex_) {
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[=]() EXCLUDES(mutex_) {
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@ -68,10 +68,10 @@ class ConstraintBuilder {
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ConstraintBuilder& operator=(const ConstraintBuilder&) = delete;
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ConstraintBuilder& operator=(const ConstraintBuilder&) = delete;
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// Schedules exploring a new constraint between 'submap' identified by
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// Schedules exploring a new constraint between 'submap' identified by
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// 'submap_index', and the 'laser_fan_3d.returns' in 'trajectory_nodes' for
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// 'submap_index', and the 'range_data_3d.returns' in 'trajectory_nodes' for
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// 'scan_index'. The 'initial_relative_pose' is relative to the 'submap'.
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// 'scan_index'. The 'initial_relative_pose' is relative to the 'submap'.
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//
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//
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// The pointees of 'submap' and 'laser_fan_3d.returns' must stay valid until
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// The pointees of 'submap' and 'range_data_3d.returns' must stay valid until
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// all computations are finished.
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// all computations are finished.
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void MaybeAddConstraint(
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void MaybeAddConstraint(
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int submap_index, const Submap* submap, int scan_index,
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int submap_index, const Submap* submap, int scan_index,
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@ -79,15 +79,15 @@ class ConstraintBuilder {
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const transform::Rigid3d& initial_relative_pose);
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const transform::Rigid3d& initial_relative_pose);
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// Schedules exploring a new constraint between 'submap' identified by
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// Schedules exploring a new constraint between 'submap' identified by
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// 'submap_index' and the 'laser_fan_3d.returns' in 'trajectory_nodes' for
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// 'submap_index' and the 'range_data_3d.returns' in 'trajectory_nodes' for
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// 'scan_index'. This performs full-submap matching.
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// 'scan_index'. This performs full-submap matching.
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//
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//
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// The scan at 'scan_index' should be from trajectory 'scan_trajectory', and
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// The scan at 'scan_index' should be from trajectory 'scan_trajectory', and
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// the 'submap' should be from 'submap_trajectory'. The
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// the 'submap' should be from 'submap_trajectory'. The
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// 'trajectory_connectivity' is updated if the full-submap match succeeds.
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// 'trajectory_connectivity' is updated if the full-submap match succeeds.
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//
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//
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// The pointees of 'submap' and 'point_cloud' must stay valid until all
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// The pointees of 'submap' and 'range_data_3d.returns' must stay valid until
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// computations are finished.
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// all computations are finished.
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void MaybeAddGlobalConstraint(
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void MaybeAddGlobalConstraint(
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int submap_index, const Submap* submap, int scan_index,
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int submap_index, const Submap* submap, int scan_index,
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const mapping::Submaps* scan_trajectory,
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const mapping::Submaps* scan_trajectory,
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@ -108,22 +108,22 @@ LaserFan CropLaserFan(const LaserFan& laser_fan, const float min_z,
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Crop(laser_fan.misses, min_z, max_z)};
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Crop(laser_fan.misses, min_z, max_z)};
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}
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}
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CompressedLaserFan Compress(const LaserFan& laser_fan) {
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CompressedRangeData Compress(const LaserFan& laser_fan) {
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std::vector<int> new_to_old;
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std::vector<int> new_to_old;
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CompressedPointCloud compressed_returns =
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CompressedPointCloud compressed_returns =
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CompressedPointCloud::CompressAndReturnOrder(laser_fan.returns,
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CompressedPointCloud::CompressAndReturnOrder(laser_fan.returns,
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&new_to_old);
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&new_to_old);
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return CompressedLaserFan{
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return CompressedRangeData{
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laser_fan.origin, std::move(compressed_returns),
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laser_fan.origin, std::move(compressed_returns),
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CompressedPointCloud(laser_fan.misses),
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CompressedPointCloud(laser_fan.misses),
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ReorderReflectivities(laser_fan.reflectivities, new_to_old)};
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ReorderReflectivities(laser_fan.reflectivities, new_to_old)};
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}
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}
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LaserFan Decompress(const CompressedLaserFan& compressed_laser_fan) {
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LaserFan Decompress(const CompressedRangeData& compressed_range_data) {
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return LaserFan{compressed_laser_fan.origin,
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return LaserFan{compressed_range_data.origin,
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compressed_laser_fan.returns.Decompress(),
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compressed_range_data.returns.Decompress(),
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compressed_laser_fan.misses.Decompress(),
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compressed_range_data.misses.Decompress(),
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compressed_laser_fan.reflectivities};
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compressed_range_data.reflectivities};
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}
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}
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} // namespace sensor
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} // namespace sensor
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@ -25,10 +25,10 @@
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namespace cartographer {
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namespace cartographer {
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namespace sensor {
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namespace sensor {
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// A 3D variant of LaserFan. Rays begin at 'origin'. 'returns' are the points
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// Rays begin at 'origin'. 'returns' are the points where laser returns were
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// where laser returns were detected. 'misses' are points in the direction of
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// detected. 'misses' are points in the direction of rays for which no return
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// rays for which no return was detected, and were inserted at a configured
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// was detected, and were inserted at a configured distance. It is assumed that
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// distance. It is assumed that between the 'origin' and 'misses' is free space.
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// between the 'origin' and 'misses' is free space.
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struct LaserFan {
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struct LaserFan {
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Eigen::Vector3f origin;
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Eigen::Vector3f origin;
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PointCloud returns;
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PointCloud returns;
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@ -63,7 +63,7 @@ LaserFan CropLaserFan(const LaserFan& laser_fan, float min_z, float max_z);
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// Like LaserFan but with compressed point clouds. The point order changes
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// Like LaserFan but with compressed point clouds. The point order changes
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// when converting from LaserFan.
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// when converting from LaserFan.
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struct CompressedLaserFan {
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struct CompressedRangeData {
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Eigen::Vector3f origin;
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Eigen::Vector3f origin;
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CompressedPointCloud returns;
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CompressedPointCloud returns;
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CompressedPointCloud misses;
|
CompressedPointCloud misses;
|
||||||
|
@ -72,9 +72,9 @@ struct CompressedLaserFan {
|
||||||
std::vector<uint8> reflectivities;
|
std::vector<uint8> reflectivities;
|
||||||
};
|
};
|
||||||
|
|
||||||
CompressedLaserFan Compress(const LaserFan& laser_fan);
|
CompressedRangeData Compress(const LaserFan& laser_fan);
|
||||||
|
|
||||||
LaserFan Decompress(const CompressedLaserFan& compressed_laser_fan);
|
LaserFan Decompress(const CompressedRangeData& compressed_range_Data);
|
||||||
|
|
||||||
} // namespace sensor
|
} // namespace sensor
|
||||||
} // namespace cartographer
|
} // namespace cartographer
|
||||||
|
|
Loading…
Reference in New Issue