62 lines
2.1 KiB
C++
62 lines
2.1 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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#include "cartographer/mapping_2d/scan_matching/fast_global_localizer.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace scan_matching {
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bool PerformGlobalLocalization(
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const float cutoff,
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const cartographer::sensor::AdaptiveVoxelFilter& voxel_filter,
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const std::vector<
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cartographer::mapping_2d::scan_matching::FastCorrelativeScanMatcher*>&
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matchers,
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const cartographer::sensor::PointCloud& point_cloud,
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transform::Rigid2d* const best_pose_estimate, float* const best_score) {
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CHECK(best_pose_estimate != nullptr)
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<< "Need a non-null output_pose_estimate!";
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CHECK(best_score != nullptr) << "Need a non-null best_score!";
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*best_score = cutoff;
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transform::Rigid2d pose_estimate;
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const sensor::PointCloud filtered_point_cloud =
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voxel_filter.Filter(point_cloud);
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bool success = false;
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if (matchers.size() == 0) {
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LOG(WARNING) << "Map not yet large enough to localize in!";
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return false;
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}
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for (auto& matcher : matchers) {
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float score = -1;
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transform::Rigid2d pose_estimate;
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if (matcher->MatchFullSubmap(filtered_point_cloud, *best_score, &score,
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&pose_estimate)) {
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CHECK_GT(score, *best_score) << "MatchFullSubmap lied!";
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*best_score = score;
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*best_pose_estimate = pose_estimate;
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success = true;
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}
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}
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return success;
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}
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} // namespace scan_matching
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} // namespace mapping_2d
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} // namespace cartographer
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