58 lines
2.2 KiB
C++
58 lines
2.2 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_SCAN_MATCHING_PRECOMPUTATION_GRID_H_
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#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_H_
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#include "cartographer/mapping_3d/hybrid_grid.h"
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namespace cartographer {
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namespace mapping_3d {
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namespace scan_matching {
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class PrecomputationGrid : public HybridGridBase<uint8> {
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public:
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explicit PrecomputationGrid(const float resolution)
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: HybridGridBase<uint8>(resolution) {}
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// Maps values from [0, 255] to [kMinProbability, kMaxProbability].
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static float ToProbability(float value) {
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return mapping::kMinProbability +
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value *
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((mapping::kMaxProbability - mapping::kMinProbability) / 255.f);
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}
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};
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// Converts a HybridGrid to a PrecomputationGrid representing the same data,
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// but only using 8 bit instead of 2 x 16 bit.
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PrecomputationGrid ConvertToPrecomputationGrid(const HybridGrid& hybrid_grid);
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// Returns a grid of the same resolution containing the maximum value of
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// original voxels in 'grid'. This maximum is over the 8 voxels that have
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// any combination of index components optionally increased by 'shift'.
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// If 'shift' is 2 ** (depth - 1), where depth 0 is the original grid, and this
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// is using the precomputed grid of one depth before, this results in
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// precomputation grids analogous to the 2D case.
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PrecomputationGrid PrecomputeGrid(const PrecomputationGrid& grid,
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bool half_resolution,
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const Eigen::Array3i& shift);
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} // namespace scan_matching
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_H_
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