123 lines
4.5 KiB
C++
Executable File
123 lines
4.5 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_TRAJECTORY_BUILDER_INTERFACE_H_
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#define CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_INTERFACE_H_
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#include <functional>
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#include <memory>
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#include <string>
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#include "absl/memory/memory.h"
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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/common/time.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/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/odometry_data.h"
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#include "cartographer/sensor/timed_point_cloud_data.h"
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namespace cartographer {
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namespace mapping {
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proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
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common::LuaParameterDictionary* const parameter_dictionary);
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class LocalSlamResultData;
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// This interface is used for both 2D and 3D SLAM. Implementations wire up a
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// global SLAM stack, i.e. local SLAM for initial pose estimates, scan matching
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// to detect loop closure, and a sparse pose graph optimization to compute
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// optimized pose estimates.
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class TrajectoryBuilderInterface {
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public:
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struct InsertionResult {
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NodeId node_id;
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std::shared_ptr<const TrajectoryNode::Data> constant_data;
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std::vector<std::shared_ptr<const Submap>> insertion_submaps;
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};
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// A callback which is called after local SLAM processes an accumulated
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// 'sensor::RangeData'. If the data was inserted into a submap, reports the
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// assigned 'NodeId', otherwise 'nullptr' if the data was filtered out.
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using LocalSlamResultCallback =
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std::function<void(int /* trajectory ID */, common::Time,
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transform::Rigid3d /* local pose estimate */,
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sensor::RangeData /* in local frame */,
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std::unique_ptr<const InsertionResult>)>;
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struct SensorId {
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enum class SensorType {
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RANGE = 0,
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IMU,
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ODOMETRY,
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FIXED_FRAME_POSE,
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LANDMARK,
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LOCAL_SLAM_RESULT
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};
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SensorType type;
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std::string id;
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bool operator==(const SensorId& other) const {
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return std::forward_as_tuple(type, id) ==
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std::forward_as_tuple(other.type, other.id);
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}
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bool operator<(const SensorId& other) const {
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return std::forward_as_tuple(type, id) <
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std::forward_as_tuple(other.type, other.id);
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}
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};
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TrajectoryBuilderInterface() {}
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virtual ~TrajectoryBuilderInterface() {}
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TrajectoryBuilderInterface(const TrajectoryBuilderInterface&) = delete;
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TrajectoryBuilderInterface& operator=(const TrajectoryBuilderInterface&) =
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delete;
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virtual void AddSensorData(
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const std::string& sensor_id,
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const sensor::TimedPointCloudData& timed_point_cloud_data) = 0;
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virtual void AddSensorData(const std::string& sensor_id,
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const sensor::ImuData& imu_data) = 0;
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virtual void AddSensorData(const std::string& sensor_id,
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const sensor::OdometryData& odometry_data) = 0;
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virtual void AddSensorData(
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const std::string& sensor_id,
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const sensor::FixedFramePoseData& fixed_frame_pose) = 0;
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virtual void AddSensorData(const std::string& sensor_id,
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const sensor::LandmarkData& landmark_data) = 0;
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// Allows to directly add local SLAM results to the 'PoseGraph'. Note that it
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// is invalid to add local SLAM results for a trajectory that has a
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// 'LocalTrajectoryBuilder2D/3D'.
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virtual void AddLocalSlamResultData(
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std::unique_ptr<mapping::LocalSlamResultData> local_slam_result_data) = 0;
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};
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proto::SensorId ToProto(const TrajectoryBuilderInterface::SensorId& sensor_id);
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TrajectoryBuilderInterface::SensorId FromProto(
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const proto::SensorId& sensor_id_proto);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_INTERFACE_H_
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