95 lines
3.6 KiB
C++
95 lines
3.6 KiB
C++
/*
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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_H_
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#define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_H_
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#include <memory>
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/pose_estimate.h"
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#include "cartographer/mapping/pose_extrapolator.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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#include "cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher.h"
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#include "cartographer/mapping_3d/submaps.h"
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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/sensor/odometry_data.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. pose extrapolator, scan matching, etc.)
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// without loop closure.
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class LocalTrajectoryBuilder {
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public:
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struct InsertionResult {
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std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data;
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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 LocalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions& options);
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~LocalTrajectoryBuilder();
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LocalTrajectoryBuilder(const LocalTrajectoryBuilder&) = delete;
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LocalTrajectoryBuilder& operator=(const LocalTrajectoryBuilder&) = delete;
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void AddImuData(const sensor::ImuData& imu_data);
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std::unique_ptr<InsertionResult> AddRangeData(
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common::Time time, const sensor::RangeData& range_data);
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void AddOdometerData(const sensor::OdometryData& odometry_data);
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const mapping::PoseEstimate& pose_estimate() const;
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private:
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std::unique_ptr<InsertionResult> AddAccumulatedRangeData(
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common::Time time, const sensor::RangeData& range_data_in_tracking);
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std::unique_ptr<InsertionResult> InsertIntoSubmap(
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common::Time time, const sensor::RangeData& range_data_in_tracking,
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const Eigen::Quaterniond& gravity_alignment,
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const sensor::PointCloud& high_resolution_point_cloud,
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const sensor::PointCloud& low_resolution_point_cloud,
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const Eigen::VectorXf& rotational_scan_matcher_histogram,
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const transform::Rigid3d& pose_observation);
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const proto::LocalTrajectoryBuilderOptions options_;
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ActiveSubmaps active_submaps_;
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mapping::PoseEstimate last_pose_estimate_;
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MotionFilter motion_filter_;
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std::unique_ptr<scan_matching::RealTimeCorrelativeScanMatcher>
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real_time_correlative_scan_matcher_;
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std::unique_ptr<scan_matching::CeresScanMatcher> ceres_scan_matcher_;
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std::unique_ptr<mapping::PoseExtrapolator> extrapolator_;
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int num_accumulated_ = 0;
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transform::Rigid3f first_pose_estimate_ = transform::Rigid3f::Identity();
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sensor::RangeData accumulated_range_data_;
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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_H_
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