58 lines
2.0 KiB
C++
58 lines
2.0 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_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
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#include <vector>
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#include "Eigen/Geometry"
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#include "cartographer/sensor/point_cloud.h"
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namespace cartographer {
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namespace mapping {
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namespace scan_matching {
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class RotationalScanMatcher {
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public:
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// Computes the histogram for a gravity aligned 'point_cloud'.
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static Eigen::VectorXf ComputeHistogram(const sensor::PointCloud& point_cloud,
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int histogram_size);
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// Creates a matcher from the given histograms rotated by the given angles.
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// The angles should be chosen to bring the histograms into approximately the
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// same frame.
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explicit RotationalScanMatcher(
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const std::vector<std::pair<Eigen::VectorXf, float>>&
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histograms_at_angles);
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// Scores how well 'histogram' rotated by 'initial_angle' can be understood as
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// further rotated by certain 'angles' relative to the 'nodes'. Each angle
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// results in a score between 0 (worst) and 1 (best).
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std::vector<float> Match(const Eigen::VectorXf& histogram,
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float initial_angle,
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const std::vector<float>& angles) const;
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private:
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Eigen::VectorXf histogram_;
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};
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} // namespace scan_matching
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
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