116 lines
4.1 KiB
C++
116 lines
4.1 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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#ifndef CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_H_
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#define CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_H_
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#include <set>
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#include <unordered_map>
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#include <utility>
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#include <vector>
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/mapping/proto/sparse_pose_graph.pb.h"
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#include "cartographer/mapping/proto/sparse_pose_graph_options.pb.h"
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#include "cartographer/mapping/submaps.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping {
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proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions(
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common::LuaParameterDictionary* const parameter_dictionary);
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// TrajectoryNodes are provided in a flat vector, but serialization requires
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// that we group them by trajectory. This groups the elements of
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// 'trajectory_nodes' into 'grouped_nodes' (so that (*grouped_nodes)[i]
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// contains a complete single trajectory). The re-indexing done is stored in
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// 'new_indices', such that 'trajectory_nodes[i]' landed in
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// '(*grouped_nodes)[new_indices[i].first][new_indices[i].second]'.
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void GroupTrajectoryNodes(
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const std::vector<TrajectoryNode>& trajectory_nodes,
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const std::unordered_map<const Submaps*, int>& trajectory_ids,
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std::vector<std::vector<TrajectoryNode>>* grouped_nodes,
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std::vector<std::pair<int, int>>* new_indices);
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class SparsePoseGraph {
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public:
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// A "constraint" as in the paper by Konolige, Kurt, et al. "Efficient sparse
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// pose adjustment for 2d mapping." Intelligent Robots and Systems (IROS),
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// 2010 IEEE/RSJ International Conference on (pp. 22--29). IEEE, 2010.
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struct Constraint {
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struct Pose {
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transform::Rigid3d zbar_ij;
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Eigen::Matrix<double, 6, 6> sqrt_Lambda_ij;
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};
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mapping::SubmapId submap_id; // 'i' in the paper.
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// Scan index.
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int j;
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// Pose of the scan 'j' relative to submap 'i'.
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Pose pose;
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// Differentiates between intra-submap (where scan 'j' was inserted into
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// submap 'i') and inter-submap constraints (where scan 'j' was not inserted
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// into submap 'i').
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enum Tag { INTRA_SUBMAP, INTER_SUBMAP } tag;
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};
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SparsePoseGraph() {}
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virtual ~SparsePoseGraph() {}
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SparsePoseGraph(const SparsePoseGraph&) = delete;
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SparsePoseGraph& operator=(const SparsePoseGraph&) = delete;
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// Computes optimized poses.
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virtual void RunFinalOptimization() = 0;
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// Get the current trajectory clusters.
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virtual std::vector<std::vector<const Submaps*>>
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GetConnectedTrajectories() = 0;
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// Returns the current optimized transforms for the given 'trajectory'.
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virtual std::vector<transform::Rigid3d> GetSubmapTransforms(
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const Submaps* trajectory) = 0;
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// Returns the transform converting data in the local map frame (i.e. the
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// continuous, non-loop-closed frame) into the global map frame (i.e. the
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// discontinuous, loop-closed frame).
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virtual transform::Rigid3d GetLocalToGlobalTransform(
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const Submaps* submaps) = 0;
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// Returns the current optimized trajectory.
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virtual std::vector<TrajectoryNode> GetTrajectoryNodes() = 0;
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// Serializes the constraints and trajectories.
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proto::SparsePoseGraph ToProto();
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protected:
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// Returns the collection of constraints.
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virtual std::vector<Constraint> constraints() = 0;
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// Returns the mapping from Submaps* to trajectory IDs.
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virtual const std::unordered_map<const Submaps*, int>& trajectory_ids() = 0;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_H_
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