Remove the LocalTrajectoryBuilderInterface in 3D. (#371)
Wolfgang Hess
GitHub
parent
471bcb6207
commit
e4e22e9f26
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@ -238,7 +238,8 @@ void SparsePoseGraph::ComputeConstraintsForScan(
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GrowSubmapTransformsAsNeeded(trajectory_id, insertion_submaps);
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CHECK_EQ(submap_ids.size(), insertion_submaps.size());
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const mapping::SubmapId matching_id = submap_ids.front();
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const int num_trimmed_submaps = optimization_problem_.num_trimmed_submaps(trajectory_id);
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const int num_trimmed_submaps =
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optimization_problem_.num_trimmed_submaps(trajectory_id);
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const transform::Rigid2d optimized_pose =
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optimization_problem_.submap_data()
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.at(matching_id.trajectory_id)
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@ -461,9 +462,9 @@ std::vector<SparsePoseGraph::Constraint> SparsePoseGraph::constraints() {
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transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
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const int trajectory_id) {
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common::MutexLocker locker(&mutex_);
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return ComputeLocalToGlobalTransform(optimized_submap_transforms_,
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num_trimmed_submaps_at_last_optimization_,
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trajectory_id);
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return ComputeLocalToGlobalTransform(
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optimized_submap_transforms_, num_trimmed_submaps_at_last_optimization_,
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trajectory_id);
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}
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std::vector<std::vector<int>> SparsePoseGraph::GetConnectedTrajectories() {
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@ -134,7 +134,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints) {
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// Set the starting point.
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// TODO(hrapp): Move ceres data into SubmapData.
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std::vector<std::vector<std::array<double, 3>>> C_submaps(submap_data_.size());
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std::vector<std::vector<std::array<double, 3>>> C_submaps(
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submap_data_.size());
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std::vector<std::vector<std::array<double, 3>>> C_nodes(node_data_.size());
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bool first_submap = true;
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for (size_t trajectory_id = 0; trajectory_id != submap_data_.size();
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@ -221,7 +222,8 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints) {
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for (size_t trajectory_id = 0; trajectory_id != submap_data_.size();
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++trajectory_id) {
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for (size_t submap_data_index = 0;
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submap_data_index != submap_data_[trajectory_id].size(); ++submap_data_index) {
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submap_data_index != submap_data_[trajectory_id].size();
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++submap_data_index) {
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submap_data_[trajectory_id][submap_data_index].pose =
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ToPose(C_submaps[trajectory_id][submap_data_index]);
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}
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@ -20,7 +20,7 @@
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#include <memory>
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#include "cartographer/mapping/global_trajectory_builder_interface.h"
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#include "cartographer/mapping_3d/local_trajectory_builder.h"
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#include "cartographer/mapping_3d/kalman_local_trajectory_builder.h"
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#include "cartographer/mapping_3d/proto/local_trajectory_builder_options.pb.h"
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#include "cartographer/mapping_3d/sparse_pose_graph.h"
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@ -49,7 +49,7 @@ class GlobalTrajectoryBuilder
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private:
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const int trajectory_id_;
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mapping_3d::SparsePoseGraph* const sparse_pose_graph_;
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std::unique_ptr<LocalTrajectoryBuilderInterface> local_trajectory_builder_;
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std::unique_ptr<KalmanLocalTrajectoryBuilder> local_trajectory_builder_;
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};
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} // namespace mapping_3d
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@ -22,7 +22,6 @@
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#include "cartographer/common/time.h"
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#include "cartographer/kalman_filter/pose_tracker.h"
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#include "cartographer/mapping/global_trajectory_builder_interface.h"
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#include "cartographer/mapping_3d/local_trajectory_builder_interface.h"
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#include "cartographer/mapping_3d/motion_filter.h"
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#include "cartographer/mapping_3d/proto/local_trajectory_builder_options.pb.h"
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#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h"
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@ -30,30 +29,39 @@
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#include "cartographer/mapping_3d/submaps.h"
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#include "cartographer/sensor/range_data.h"
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#include "cartographer/sensor/voxel_filter.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping_3d {
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// Wires up the local SLAM stack (i.e. UKF, scan matching, etc.) without loop
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// closure.
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class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface {
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class KalmanLocalTrajectoryBuilder {
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public:
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using PoseEstimate = mapping::GlobalTrajectoryBuilderInterface::PoseEstimate;
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struct InsertionResult {
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common::Time time;
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sensor::RangeData range_data_in_tracking;
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transform::Rigid3d pose_observation;
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std::vector<std::shared_ptr<const Submap>> insertion_submaps;
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};
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explicit KalmanLocalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions& options);
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~KalmanLocalTrajectoryBuilder() override;
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~KalmanLocalTrajectoryBuilder();
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KalmanLocalTrajectoryBuilder(const KalmanLocalTrajectoryBuilder&) = delete;
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KalmanLocalTrajectoryBuilder& operator=(const KalmanLocalTrajectoryBuilder&) =
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delete;
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void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& angular_velocity) override;
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const Eigen::Vector3d& angular_velocity);
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std::unique_ptr<InsertionResult> AddRangefinderData(
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common::Time time, const Eigen::Vector3f& origin,
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const sensor::PointCloud& ranges) override;
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void AddOdometerData(common::Time time,
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const transform::Rigid3d& pose) override;
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const PoseEstimate& pose_estimate() const override;
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const sensor::PointCloud& ranges);
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void AddOdometerData(common::Time time, const transform::Rigid3d& pose);
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const PoseEstimate& pose_estimate() const;
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private:
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std::unique_ptr<InsertionResult> AddAccumulatedRangeData(
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@ -17,12 +17,11 @@
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#include "cartographer/mapping_3d/local_trajectory_builder.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping_3d/kalman_local_trajectory_builder.h"
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namespace cartographer {
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namespace mapping_3d {
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std::unique_ptr<LocalTrajectoryBuilderInterface> CreateLocalTrajectoryBuilder(
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std::unique_ptr<KalmanLocalTrajectoryBuilder> CreateLocalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions&
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local_trajectory_builder_options) {
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return common::make_unique<KalmanLocalTrajectoryBuilder>(
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@ -20,13 +20,13 @@
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#include <memory>
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#include <vector>
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#include "cartographer/mapping_3d/local_trajectory_builder_interface.h"
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#include "cartographer/mapping_3d/kalman_local_trajectory_builder.h"
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#include "cartographer/mapping_3d/proto/local_trajectory_builder_options.pb.h"
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namespace cartographer {
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namespace mapping_3d {
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std::unique_ptr<LocalTrajectoryBuilderInterface> CreateLocalTrajectoryBuilder(
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std::unique_ptr<KalmanLocalTrajectoryBuilder> CreateLocalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions&
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local_trajectory_builder_options);
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@ -1,68 +0,0 @@
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/*
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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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#ifndef CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_INTERFACE_H_
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#define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_INTERFACE_H_
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#include <memory>
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#include <vector>
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/global_trajectory_builder_interface.h"
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#include "cartographer/mapping_3d/submaps.h"
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#include "cartographer/sensor/range_data.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping_3d {
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class LocalTrajectoryBuilderInterface {
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public:
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using PoseEstimate = mapping::GlobalTrajectoryBuilderInterface::PoseEstimate;
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struct InsertionResult {
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common::Time time;
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sensor::RangeData range_data_in_tracking;
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transform::Rigid3d pose_observation;
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std::vector<std::shared_ptr<const Submap>> insertion_submaps;
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};
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virtual ~LocalTrajectoryBuilderInterface() {}
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LocalTrajectoryBuilderInterface(const LocalTrajectoryBuilderInterface&) =
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delete;
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LocalTrajectoryBuilderInterface& operator=(
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const LocalTrajectoryBuilderInterface&) = delete;
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virtual void AddImuData(common::Time time,
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const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& angular_velocity) = 0;
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virtual std::unique_ptr<InsertionResult> AddRangefinderData(
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common::Time time, const Eigen::Vector3f& origin,
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const sensor::PointCloud& ranges) = 0;
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virtual void AddOdometerData(common::Time time,
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const transform::Rigid3d& pose) = 0;
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virtual const PoseEstimate& pose_estimate() const = 0;
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protected:
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LocalTrajectoryBuilderInterface() {}
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};
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_INTERFACE_H_
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