127 lines
4.4 KiB
C++
127 lines
4.4 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_SUBMAPS_H_
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#define CARTOGRAPHER_MAPPING_SUBMAPS_H_
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#include <memory>
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#include <vector>
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#include "Eigen/Geometry"
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#include "cartographer/common/math.h"
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/probability_values.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer/mapping_2d/probability_grid.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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// Converts the given probability to log odds.
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inline float Logit(float probability) {
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return std::log(probability / (1.f - probability));
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}
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const float kMaxLogOdds = Logit(kMaxProbability);
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const float kMinLogOdds = Logit(kMinProbability);
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// Converts a probability to a log odds integer. 0 means unknown, [kMinLogOdds,
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// kMaxLogOdds] is mapped to [1, 255].
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inline uint8 ProbabilityToLogOddsInteger(const float probability) {
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const int value = common::RoundToInt((Logit(probability) - kMinLogOdds) *
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254.f / (kMaxLogOdds - kMinLogOdds)) +
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1;
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CHECK_LE(1, value);
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CHECK_GE(255, value);
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return value;
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}
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// An individual submap, which has a 'local_pose' in the local SLAM frame, keeps
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// track of how many range data were inserted into it, and sets the
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// 'finished_probability_grid' to be used for loop closing once the map no
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// longer changes.
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struct Submap {
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Submap(const transform::Rigid3d& local_pose) : local_pose(local_pose) {}
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// Local SLAM pose of this submap.
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const transform::Rigid3d local_pose;
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// Number of RangeData inserted.
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int num_range_data = 0;
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// The 'finished_probability_grid' when this submap is finished and will not
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// change anymore. Otherwise, this is nullptr and the next call to
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// InsertRangeData() will change the submap.
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const mapping_2d::ProbabilityGrid* finished_probability_grid = nullptr;
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};
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// Submaps is a sequence of maps to which scans are matched and into which scans
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// are inserted.
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//
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// Except during initialization when only a single submap exists, there are
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// always two submaps into which scans are inserted: an old submap that is used
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// for matching, and a new one, which will be used for matching next, that is
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// being initialized.
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//
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// Once a certain number of scans have been inserted, the new submap is
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// considered initialized: the old submap is no longer changed, the "new" submap
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// is now the "old" submap and is used for scan-to-map matching. Moreover,
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// a "new" submap gets inserted.
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class Submaps {
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public:
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static constexpr uint8 kUnknownLogOdds = 0;
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Submaps();
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virtual ~Submaps();
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Submaps(const Submaps&) = delete;
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Submaps& operator=(const Submaps&) = delete;
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// Returns the index of the newest initialized Submap which can be
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// used for scan-to-map matching.
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int matching_index() const;
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// Returns the indices of the Submap into which point clouds will
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// be inserted.
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std::vector<int> insertion_indices() const;
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// Returns the Submap with the given 'index'. The same 'index' will always
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// return the same pointer, so that Submaps can be identified by it.
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virtual const Submap* Get(int index) const = 0;
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// Returns the number of Submaps.
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virtual int size() const = 0;
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// Fills data about the Submap with 'index' into the 'response'.
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virtual void SubmapToProto(int index,
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const transform::Rigid3d& global_submap_pose,
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proto::SubmapQuery::Response* response) const = 0;
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protected:
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static void AddProbabilityGridToResponse(
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const transform::Rigid3d& local_submap_pose,
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const mapping_2d::ProbabilityGrid& probability_grid,
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proto::SubmapQuery::Response* response);
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_SUBMAPS_H_
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