93 lines
3.8 KiB
C++
Executable File
93 lines
3.8 KiB
C++
Executable File
/*
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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_IO_PROBABILITY_GRID_POINTS_PROCESSOR_H_
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#define CARTOGRAPHER_IO_PROBABILITY_GRID_POINTS_PROCESSOR_H_
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#include <memory>
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/image.h"
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#include "cartographer/io/points_batch.h"
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#include "cartographer/io/points_processor.h"
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#include "cartographer/mapping/2d/probability_grid.h"
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#include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
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#include "cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.pb.h"
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#include "cartographer/mapping/proto/trajectory.pb.h"
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#include "cartographer/mapping/value_conversion_tables.h"
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namespace cartographer {
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namespace io {
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// Creates a probability grid with the specified 'resolution'. As all points are
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// projected into the x-y plane the z component of the data is ignored.
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// 'range_data_inserter' options are used to configure the range data ray
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// tracing through the probability grid.
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class ProbabilityGridPointsProcessor : public PointsProcessor {
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public:
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constexpr static const char* kConfigurationFileActionName =
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"write_probability_grid";
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enum class DrawTrajectories { kNo, kYes };
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enum class OutputType { kPng, kPb };
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ProbabilityGridPointsProcessor(
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double resolution,
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const mapping::proto::ProbabilityGridRangeDataInserterOptions2D&
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probability_grid_range_data_inserter_options,
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const DrawTrajectories& draw_trajectories, const OutputType& output_type,
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std::unique_ptr<FileWriter> file_writer,
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const std::vector<mapping::proto::Trajectory>& trajectories,
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PointsProcessor* next);
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ProbabilityGridPointsProcessor(const ProbabilityGridPointsProcessor&) =
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delete;
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ProbabilityGridPointsProcessor& operator=(
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const ProbabilityGridPointsProcessor&) = delete;
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static std::unique_ptr<ProbabilityGridPointsProcessor> FromDictionary(
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const std::vector<mapping::proto::Trajectory>& trajectories,
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const FileWriterFactory& file_writer_factory,
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common::LuaParameterDictionary* dictionary, PointsProcessor* next);
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~ProbabilityGridPointsProcessor() override {}
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void Process(std::unique_ptr<PointsBatch> batch) override;
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FlushResult Flush() override;
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private:
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const DrawTrajectories draw_trajectories_;
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const OutputType output_type_;
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const std::vector<mapping::proto::Trajectory> trajectories_;
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std::unique_ptr<FileWriter> file_writer_;
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PointsProcessor* const next_;
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mapping::ProbabilityGridRangeDataInserter2D range_data_inserter_;
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mapping::ValueConversionTables conversion_tables_;
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mapping::ProbabilityGrid probability_grid_;
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};
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// Draws 'probability_grid' into an image and fills in 'offset' with the cropped
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// map limits. Returns 'nullptr' if probability_grid was empty.
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std::unique_ptr<Image> DrawProbabilityGrid(
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const mapping::ProbabilityGrid& probability_grid, Eigen::Array2i* offset);
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// Create an initially empty probability grid with 'resolution' and a small
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// size, suitable for a PointsBatchProcessor.
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mapping::ProbabilityGrid CreateProbabilityGrid(
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const double resolution, mapping::ValueConversionTables* conversion_tables);
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_PROBABILITY_GRID_POINTS_PROCESSOR_H_
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