149 lines
5.5 KiB
C++
Executable File
149 lines
5.5 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_MAPPING_POSE_GRAPH_H_
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#define CARTOGRAPHER_MAPPING_POSE_GRAPH_H_
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#include <memory>
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#include <set>
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#include <utility>
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#include <vector>
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#include "absl/container/flat_hash_map.h"
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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_interface.h"
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#include "cartographer/mapping/pose_graph_trimmer.h"
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#include "cartographer/mapping/proto/pose_graph.pb.h"
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#include "cartographer/mapping/proto/pose_graph_options.pb.h"
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#include "cartographer/mapping/proto/serialization.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/sensor/fixed_frame_pose_data.h"
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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/sensor/landmark_data.h"
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#include "cartographer/sensor/map_by_time.h"
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#include "cartographer/sensor/odometry_data.h"
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namespace cartographer {
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namespace mapping {
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proto::PoseGraphOptions CreatePoseGraphOptions(
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common::LuaParameterDictionary* const parameter_dictionary);
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class PoseGraph : public PoseGraphInterface {
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public:
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struct InitialTrajectoryPose {
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int to_trajectory_id;
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transform::Rigid3d relative_pose;
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common::Time time;
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};
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PoseGraph() {}
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~PoseGraph() override {}
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PoseGraph(const PoseGraph&) = delete;
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PoseGraph& operator=(const PoseGraph&) = delete;
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// Inserts an IMU measurement.
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virtual void AddImuData(int trajectory_id,
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const sensor::ImuData& imu_data) = 0;
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// Inserts an odometry measurement.
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virtual void AddOdometryData(int trajectory_id,
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const sensor::OdometryData& odometry_data) = 0;
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// Inserts a fixed frame pose measurement.
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virtual void AddFixedFramePoseData(
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int trajectory_id,
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const sensor::FixedFramePoseData& fixed_frame_pose_data) = 0;
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// Inserts landmarks observations.
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virtual void AddLandmarkData(int trajectory_id,
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const sensor::LandmarkData& landmark_data) = 0;
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// Finishes the given trajectory.
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virtual void FinishTrajectory(int trajectory_id) = 0;
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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 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 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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// Sets the trajectory data from a proto.
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virtual void SetTrajectoryDataFromProto(
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const mapping::proto::TrajectoryData& data) = 0;
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// Adds information that 'node_id' was inserted into 'submap_id'. The submap
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// has to be deserialized first.
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virtual void AddNodeToSubmap(const NodeId& node_id,
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const SubmapId& submap_id) = 0;
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// Adds serialized constraints. The corresponding trajectory nodes and submaps
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// have to be deserialized before calling this function.
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virtual void AddSerializedConstraints(
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const std::vector<Constraint>& constraints) = 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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// Gets the current trajectory clusters.
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virtual std::vector<std::vector<int>> GetConnectedTrajectories() const = 0;
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proto::PoseGraph ToProto(bool include_unfinished_submaps) const override;
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// Returns the IMU data.
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virtual sensor::MapByTime<sensor::ImuData> GetImuData() const = 0;
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// Returns the odometry data.
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virtual sensor::MapByTime<sensor::OdometryData> GetOdometryData() const = 0;
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// Returns the fixed frame pose data.
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virtual sensor::MapByTime<sensor::FixedFramePoseData> GetFixedFramePoseData()
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const = 0;
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// Returns the landmark data.
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virtual std::map<std::string /* landmark ID */, PoseGraph::LandmarkNode>
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GetLandmarkNodes() const = 0;
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// Sets a relative initial pose 'relative_pose' for 'from_trajectory_id' with
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// respect to 'to_trajectory_id' at time 'time'.
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virtual void SetInitialTrajectoryPose(int from_trajectory_id,
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int to_trajectory_id,
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const transform::Rigid3d& pose,
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const common::Time time) = 0;
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};
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std::vector<PoseGraph::Constraint> FromProto(
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const ::google::protobuf::RepeatedPtrField<
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::cartographer::mapping::proto::PoseGraph::Constraint>&
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constraint_protos);
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proto::PoseGraph::Constraint ToProto(const PoseGraph::Constraint& constraint);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_POSE_GRAPH_H_
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