136 lines
5.2 KiB
C++
136 lines
5.2 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_SUBMAP_3D_H_
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#define CARTOGRAPHER_MAPPING_3D_SUBMAP_3D_H_
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#include <memory>
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#include <string>
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#include <vector>
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#include "Eigen/Geometry"
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/3d/hybrid_grid.h"
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#include "cartographer/mapping/3d/range_data_inserter_3d.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping/proto/submaps_options_3d.pb.h"
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#include "cartographer/mapping/submaps.h"
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#include "cartographer/sensor/range_data.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace mapping {
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proto::SubmapsOptions3D CreateSubmapsOptions3D(
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common::LuaParameterDictionary* parameter_dictionary);
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class Submap3D : public Submap {
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public:
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Submap3D(float high_resolution, float low_resolution,
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const transform::Rigid3d& local_submap_pose,
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const Eigen::VectorXf& rotational_scan_matcher_histogram);
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explicit Submap3D(const proto::Submap3D& proto);
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proto::Submap ToProto(bool include_probability_grid_data) const override;
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void UpdateFromProto(const proto::Submap& proto) override;
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void ToResponseProto(const transform::Rigid3d& global_submap_pose,
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proto::SubmapQuery::Response* response) const override;
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const HybridGrid& high_resolution_hybrid_grid() const {
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return *high_resolution_hybrid_grid_;
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}
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const HybridGrid& low_resolution_hybrid_grid() const {
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return *low_resolution_hybrid_grid_;
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}
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const IntensityHybridGrid& high_resolution_intensity_hybrid_grid() const {
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CHECK(high_resolution_intensity_hybrid_grid_ != nullptr);
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return *high_resolution_intensity_hybrid_grid_;
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}
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void ForgetIntensityHybridGrid() {
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high_resolution_intensity_hybrid_grid_.reset();
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}
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const Eigen::VectorXf& rotational_scan_matcher_histogram() const {
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return rotational_scan_matcher_histogram_;
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}
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// Insert 'range_data' into this submap using 'range_data_inserter'. The
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// submap must not be finished yet.
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void InsertData(const sensor::RangeData& range_data,
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const RangeDataInserter3D& range_data_inserter,
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float high_resolution_max_range,
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const Eigen::Quaterniond& local_from_gravity_aligned,
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const Eigen::VectorXf& scan_histogram_in_gravity);
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void Finish();
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private:
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void UpdateFromProto(const proto::Submap3D& submap_3d);
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std::unique_ptr<HybridGrid> high_resolution_hybrid_grid_;
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std::unique_ptr<HybridGrid> low_resolution_hybrid_grid_;
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std::unique_ptr<IntensityHybridGrid> high_resolution_intensity_hybrid_grid_;
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Eigen::VectorXf rotational_scan_matcher_histogram_;
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};
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// The first active submap will be created on the insertion of the first range
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// data. Except during this initialization when no or only one single submap
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// exists, there are always two submaps into which range data is inserted: an
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// old submap that is used for matching, and a new one, which will be used for
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// matching next, that is being initialized.
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//
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// Once a certain number of range data have been inserted, the new submap is
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// considered initialized: the old submap is no longer changed, the "new" submap
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// is now the "old" submap and is used for scan-to-map matching. Moreover, a
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// "new" submap gets created. The "old" submap is forgotten by this object.
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class ActiveSubmaps3D {
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public:
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explicit ActiveSubmaps3D(const proto::SubmapsOptions3D& options);
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ActiveSubmaps3D(const ActiveSubmaps3D&) = delete;
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ActiveSubmaps3D& operator=(const ActiveSubmaps3D&) = delete;
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// Inserts 'range_data_in_local' into the Submap collection.
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// 'local_from_gravity_aligned' is used for the orientation of new submaps so
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// that the z axis approximately aligns with gravity.
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// 'rotational_scan_matcher_histogram_in_gravity' will be accumulated in all
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// submaps of the Submap collection.
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std::vector<std::shared_ptr<const Submap3D>> InsertData(
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const sensor::RangeData& range_data_in_local,
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const Eigen::Quaterniond& local_from_gravity_aligned,
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const Eigen::VectorXf& rotational_scan_matcher_histogram_in_gravity);
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std::vector<std::shared_ptr<const Submap3D>> submaps() const;
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private:
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void AddSubmap(const transform::Rigid3d& local_submap_pose,
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int rotational_scan_matcher_histogram_size);
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const proto::SubmapsOptions3D options_;
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std::vector<std::shared_ptr<Submap3D>> submaps_;
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RangeDataInserter3D range_data_inserter_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_SUBMAP_3D_H_
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