98 lines
3.1 KiB
C++
Executable File
98 lines
3.1 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_SUBMAPS_H_
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#define CARTOGRAPHER_MAPPING_SUBMAPS_H_
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#include <memory>
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#include <vector>
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#include "Eigen/Geometry"
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#include "cartographer/common/math.h"
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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/probability_values.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/trajectory_node.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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// Converts the given probability to log odds.
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inline float Logit(float probability) {
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return std::log(probability / (1.f - probability));
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}
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const float kMaxLogOdds = Logit(kMaxProbability);
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const float kMinLogOdds = Logit(kMinProbability);
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// Converts a probability to a log odds integer. 0 means unknown, [kMinLogOdds,
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// kMaxLogOdds] is mapped to [1, 255].
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inline uint8 ProbabilityToLogOddsInteger(const float probability) {
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const int value = common::RoundToInt((Logit(probability) - kMinLogOdds) *
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254.f / (kMaxLogOdds - kMinLogOdds)) +
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1;
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CHECK_LE(1, value);
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CHECK_GE(255, value);
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return value;
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}
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// An individual submap, which has a 'local_pose' in the local map frame, keeps
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// track of how many range data were inserted into it, and sets
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// 'insertion_finished' when the map no longer changes and is ready for loop
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// closing.
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class Submap {
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public:
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Submap(const transform::Rigid3d& local_submap_pose)
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: local_pose_(local_submap_pose) {}
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virtual ~Submap() {}
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virtual proto::Submap ToProto(bool include_grid_data) const = 0;
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virtual void UpdateFromProto(const proto::Submap& proto) = 0;
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// Fills data into the 'response'.
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virtual void ToResponseProto(
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const transform::Rigid3d& global_submap_pose,
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proto::SubmapQuery::Response* response) const = 0;
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// Pose of this submap in the local map frame.
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transform::Rigid3d local_pose() const { return local_pose_; }
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// Number of RangeData inserted.
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int num_range_data() const { return num_range_data_; }
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void set_num_range_data(const int num_range_data) {
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num_range_data_ = num_range_data;
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}
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bool insertion_finished() const { return insertion_finished_; }
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void set_insertion_finished(bool insertion_finished) {
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insertion_finished_ = insertion_finished;
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}
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private:
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const transform::Rigid3d local_pose_;
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int num_range_data_ = 0;
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bool insertion_finished_ = false;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_SUBMAPS_H_
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