129 lines
4.1 KiB
C++
129 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 <vector>
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/mapping/proto/scan_matching_progress.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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// Splits TrajectoryNodes by ID.
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std::vector<std::vector<TrajectoryNode>> SplitTrajectoryNodes(
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const std::vector<TrajectoryNode>& trajectory_nodes);
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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 Constraint2D {
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struct Pose {
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transform::Rigid2d zbar_ij;
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Eigen::Matrix<double, 3, 3> sqrt_Lambda_ij;
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};
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// Submap index.
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int i;
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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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struct Constraint3D {
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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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// Submap index.
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int i;
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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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// Will once return true whenever new optimized poses are available.
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virtual bool HasNewOptimizedPoses() = 0;
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// Returns the scan matching progress.
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virtual proto::ScanMatchingProgress GetScanMatchingProgress() = 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 'submaps'.
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virtual std::vector<transform::Rigid3d> GetSubmapTransforms(
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const Submaps& submaps) = 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 mapping::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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// Returns the collection of 2D constraints.
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virtual std::vector<Constraint2D> constraints_2d() = 0;
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// Returns the collection of 3D constraints.
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virtual std::vector<Constraint3D> constraints_3d() = 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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