127 lines
4.5 KiB
C++
127 lines
4.5 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 <memory>
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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/id.h"
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#include "cartographer/mapping/pose_graph_trimmer.h"
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#include "cartographer/mapping/proto/serialization.pb.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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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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double translation_weight;
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double rotation_weight;
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};
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SubmapId submap_id; // 'i' in the paper.
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NodeId node_id; // 'j' in the paper.
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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 SubmapData {
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std::shared_ptr<const Submap> submap;
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transform::Rigid3d pose;
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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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// Freezes a trajectory. Poses in this trajectory will not be optimized.
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virtual void FreezeTrajectory(int trajectory_id) = 0;
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// Adds a 'submap' from a proto with the given 'global_pose' to the
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// appropriate frozen trajectory.
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virtual void AddSubmapFromProto(const transform::Rigid3d& global_pose,
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const proto::Submap& submap) = 0;
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// Adds a 'node' from a proto with the given 'global_pose' to the
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// appropriate frozen trajectory.
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virtual void AddNodeFromProto(const transform::Rigid3d& global_pose,
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const proto::Node& node) = 0;
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// Adds a 'trimmer'. It will be used after all data added before it has been
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// included in the pose graph.
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virtual void AddTrimmer(std::unique_ptr<PoseGraphTrimmer> trimmer) = 0;
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// Computes optimized poses.
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virtual void RunFinalOptimization() = 0;
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// Gets the current trajectory clusters.
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virtual std::vector<std::vector<int>> GetConnectedTrajectories() = 0;
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// Returns the current optimized transform and submap itself for the given
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// 'submap_id'. Returns 'nullptr' for the 'submap' member if the submap does
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// not exist (anymore).
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virtual SubmapData GetSubmapData(const SubmapId& submap_id) = 0;
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// Returns data for all submaps.
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virtual MapById<SubmapId, SubmapData> GetAllSubmapData() = 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(int trajectory_id) = 0;
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// Returns the current optimized trajectories.
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virtual MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() = 0;
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// Serializes the constraints and trajectories.
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proto::SparsePoseGraph ToProto();
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// Returns the collection of constraints.
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virtual std::vector<Constraint> constraints() = 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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