119 lines
4.3 KiB
C++
119 lines
4.3 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_SUBMAPS_H_
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#define CARTOGRAPHER_MAPPING_3D_SUBMAPS_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/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/submaps.h"
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#include "cartographer/mapping_2d/range_data_inserter.h"
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#include "cartographer/mapping_3d/hybrid_grid.h"
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#include "cartographer/mapping_3d/proto/submaps_options.pb.h"
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#include "cartographer/mapping_3d/range_data_inserter.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_3d {
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proto::SubmapsOptions CreateSubmapsOptions(
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common::LuaParameterDictionary* parameter_dictionary);
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class Submap : public mapping::Submap {
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public:
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Submap(float high_resolution, float low_resolution,
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const transform::Rigid3d& local_submap_pose);
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explicit Submap(const mapping::proto::Submap3D& proto);
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void ToProto(mapping::proto::Submap* proto) const override;
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void UpdateFromProto(const mapping::proto::Submap& proto) 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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bool finished() const { return finished_; }
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void ToResponseProto(
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const transform::Rigid3d& global_submap_pose,
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mapping::proto::SubmapQuery::Response* response) const override;
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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 InsertRangeData(const sensor::RangeData& range_data,
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const RangeDataInserter& range_data_inserter,
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int high_resolution_max_range);
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void Finish();
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private:
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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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bool finished_ = false;
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};
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// Except during initialization when only a single submap exists, there are
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// always two submaps into which range data is inserted: an old submap that is
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// used for matching, and a new one, which will be used for matching next, that
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// 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 ActiveSubmaps {
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public:
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explicit ActiveSubmaps(const proto::SubmapsOptions& options);
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ActiveSubmaps(const ActiveSubmaps&) = delete;
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ActiveSubmaps& operator=(const ActiveSubmaps&) = delete;
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// Returns the index of the newest initialized Submap which can be
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// used for scan-to-map matching.
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int matching_index() const;
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// Inserts 'range_data' into the Submap collection. 'gravity_alignment' is
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// used for the orientation of new submaps so that the z axis approximately
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// aligns with gravity.
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void InsertRangeData(const sensor::RangeData& range_data,
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const Eigen::Quaterniond& gravity_alignment);
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std::vector<std::shared_ptr<Submap>> submaps() const;
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private:
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void AddSubmap(const transform::Rigid3d& local_submap_pose);
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const proto::SubmapsOptions options_;
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int matching_submap_index_ = 0;
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std::vector<std::shared_ptr<Submap>> submaps_;
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RangeDataInserter range_data_inserter_;
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};
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_SUBMAPS_H_
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