121 lines
4.9 KiB
C++
Executable File
121 lines
4.9 KiB
C++
Executable File
/*
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* Copyright 2017 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_MAP_BUILDER_INTERFACE_H_
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#define CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_
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#include <set>
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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/lua_parameter_dictionary.h"
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#include "cartographer/common/port.h"
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#include "cartographer/io/proto_stream_interface.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer/mapping/proto/map_builder_options.pb.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/submaps.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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namespace cartographer {
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namespace mapping {
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proto::MapBuilderOptions CreateMapBuilderOptions(
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common::LuaParameterDictionary* const parameter_dictionary);
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// This interface is used for both library and RPC implementations.
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// Implementations wire up the complete SLAM stack.
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class MapBuilderInterface {
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public:
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using LocalSlamResultCallback =
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TrajectoryBuilderInterface::LocalSlamResultCallback;
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using SensorId = TrajectoryBuilderInterface::SensorId;
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MapBuilderInterface() {}
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virtual ~MapBuilderInterface() {}
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MapBuilderInterface(const MapBuilderInterface&) = delete;
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MapBuilderInterface& operator=(const MapBuilderInterface&) = delete;
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// Creates a new trajectory builder and returns its index.
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virtual int AddTrajectoryBuilder(
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const std::set<SensorId>& expected_sensor_ids,
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const proto::TrajectoryBuilderOptions& trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) = 0;
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// Creates a new trajectory and returns its index. Querying the trajectory
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// builder for it will return 'nullptr'.
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virtual int AddTrajectoryForDeserialization(
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const proto::TrajectoryBuilderOptionsWithSensorIds&
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options_with_sensor_ids_proto) = 0;
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// Returns the 'TrajectoryBuilderInterface' corresponding to the specified
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// 'trajectory_id' or 'nullptr' if the trajectory has no corresponding
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// builder.
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virtual mapping::TrajectoryBuilderInterface* GetTrajectoryBuilder(
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int trajectory_id) const = 0;
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// Marks the TrajectoryBuilder corresponding to 'trajectory_id' as finished,
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// i.e. no further sensor data is expected.
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virtual void FinishTrajectory(int trajectory_id) = 0;
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// Fills the SubmapQuery::Response corresponding to 'submap_id'. Returns an
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// error string on failure, or an empty string on success.
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virtual std::string SubmapToProto(const SubmapId& submap_id,
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proto::SubmapQuery::Response* response) = 0;
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// Serializes the current state to a proto stream. If
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// 'include_unfinished_submaps' is set to true, unfinished submaps, i.e.
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// submaps that have not yet received all rangefinder data insertions, will
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// be included in the serialized state.
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virtual void SerializeState(bool include_unfinished_submaps,
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io::ProtoStreamWriterInterface* writer) = 0;
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// Serializes the current state to a proto stream file on the host system. If
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// 'include_unfinished_submaps' is set to true, unfinished submaps, i.e.
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// submaps that have not yet received all rangefinder data insertions, will
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// be included in the serialized state.
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// Returns true if the file was successfully written.
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virtual bool SerializeStateToFile(bool include_unfinished_submaps,
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const std::string& filename) = 0;
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// Loads the SLAM state from a proto stream. Returns the remapping of new
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// trajectory_ids.
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virtual std::map<int /* trajectory id in proto */, int /* trajectory id */>
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LoadState(io::ProtoStreamReaderInterface* reader, bool load_frozen_state) = 0;
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// Loads the SLAM state from a pbstream file. Returns the remapping of new
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// trajectory_ids.
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virtual std::map<int /* trajectory id in proto */, int /* trajectory id */>
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LoadStateFromFile(const std::string& filename, bool load_frozen_state) = 0;
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virtual int num_trajectory_builders() const = 0;
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virtual mapping::PoseGraphInterface* pose_graph() = 0;
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virtual const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>&
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GetAllTrajectoryBuilderOptions() const = 0;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_
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