91 lines
2.9 KiB
C++
91 lines
2.9 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_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_
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#define CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_
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#include <array>
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#include <deque>
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#include <map>
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#include <vector>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/port.h"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/sparse_pose_graph.h"
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#include "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.h"
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#include "cartographer/mapping_3d/imu_integration.h"
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namespace cartographer {
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namespace mapping_3d {
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namespace sparse_pose_graph {
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struct NodeData {
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common::Time time;
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transform::Rigid3d point_cloud_pose;
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};
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struct SubmapData {
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transform::Rigid3d pose;
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};
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// Implements the SPA loop closure method.
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class OptimizationProblem {
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public:
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using Constraint = mapping::SparsePoseGraph::Constraint;
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enum class FixZ { kYes, kNo };
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OptimizationProblem(
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const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
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options,
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FixZ fix_z);
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~OptimizationProblem();
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OptimizationProblem(const OptimizationProblem&) = delete;
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OptimizationProblem& operator=(const OptimizationProblem&) = delete;
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void AddImuData(int trajectory_id, common::Time time,
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const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& angular_velocity);
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void AddTrajectoryNode(int trajectory_id, common::Time time,
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const transform::Rigid3d& point_cloud_pose);
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void AddSubmap(int trajectory_id, const transform::Rigid3d& submap_pose);
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void SetMaxNumIterations(int32 max_num_iterations);
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// Computes the optimized poses.
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void Solve(const std::vector<Constraint>& constraints);
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const std::vector<std::vector<NodeData>>& node_data() const;
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const std::vector<std::vector<SubmapData>>& submap_data() const;
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private:
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mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
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FixZ fix_z_;
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std::vector<std::deque<ImuData>> imu_data_;
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std::vector<std::vector<NodeData>> node_data_;
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std::vector<std::vector<SubmapData>> submap_data_;
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double gravity_constant_ = 9.8;
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};
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} // namespace sparse_pose_graph
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_H_
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