62 lines
2.2 KiB
C
62 lines
2.2 KiB
C
|
/*
|
||
|
|
* Copyright 2018 The Cartographer Authors
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_RANGE_DATA_COLLATOR_H_
|
||
|
|
#define CARTOGRAPHER_MAPPING_INTERNAL_RANGE_DATA_COLLATOR_H_
|
||
|
|
|
||
|
|
#include <memory>
|
||
|
|
|
||
|
|
#include "absl/memory/memory.h"
|
||
|
|
#include "cartographer/sensor/timed_point_cloud_data.h"
|
||
|
|
|
||
|
|
namespace cartographer {
|
||
|
|
namespace mapping {
|
||
|
|
|
||
|
|
// Synchronizes TimedPointCloudData from different sensors. Input needs only be
|
||
|
|
// monotonous in 'TimedPointCloudData::time', output is monotonous in per-point
|
||
|
|
// timing. Up to one message per sensor is buffered, so a delay of the period of
|
||
|
|
// the slowest sensor may be introduced, which can be alleviated by passing
|
||
|
|
// subdivisions.
|
||
|
|
class RangeDataCollator {
|
||
|
|
public:
|
||
|
|
explicit RangeDataCollator(
|
||
|
|
const std::vector<std::string>& expected_range_sensor_ids)
|
||
|
|
: expected_sensor_ids_(expected_range_sensor_ids.begin(),
|
||
|
|
expected_range_sensor_ids.end()) {}
|
||
|
|
|
||
|
|
// If timed_point_cloud_data has incomplete intensity data, we will fill the
|
||
|
|
// missing intensities with kDefaultIntensityValue.
|
||
|
|
sensor::TimedPointCloudOriginData AddRangeData(
|
||
|
|
const std::string& sensor_id,
|
||
|
|
sensor::TimedPointCloudData timed_point_cloud_data);
|
||
|
|
|
||
|
|
private:
|
||
|
|
sensor::TimedPointCloudOriginData CropAndMerge();
|
||
|
|
|
||
|
|
const std::set<std::string> expected_sensor_ids_;
|
||
|
|
// Store at most one message for each sensor.
|
||
|
|
std::map<std::string, sensor::TimedPointCloudData> id_to_pending_data_; //集合，
|
||
|
|
common::Time current_start_ = common::Time::min();
|
||
|
|
common::Time current_end_ = common::Time::min();
|
||
|
|
|
||
|
|
constexpr static float kDefaultIntensityValue = 0.f;
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace mapping
|
||
|
|
} // namespace cartographer
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_MAPPING_INTERNAL_RANGE_DATA_COLLATOR_H_
|