82 lines
2.5 KiB
C++
Executable File
82 lines
2.5 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_NODE_H_
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#define CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
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#include <memory>
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#include <vector>
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#include "Eigen/Core"
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#include "absl/types/optional.h"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/proto/trajectory_node_data.pb.h"
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#include "cartographer/sensor/range_data.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping {
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struct TrajectoryNodePose {
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struct ConstantPoseData {
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common::Time time;
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transform::Rigid3d local_pose;
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};
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// The node pose in the global SLAM frame.
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transform::Rigid3d global_pose;
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absl::optional<ConstantPoseData> constant_pose_data;
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};
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struct TrajectoryNode {
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struct Data {
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common::Time time;
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// Transform to approximately gravity align the tracking frame as
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// determined by local SLAM.
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Eigen::Quaterniond gravity_alignment;
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// Used for loop closure in 2D: voxel filtered returns in the
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// 'gravity_alignment' frame.
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sensor::PointCloud filtered_gravity_aligned_point_cloud;
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// Used for loop closure in 3D.
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sensor::PointCloud high_resolution_point_cloud;
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sensor::PointCloud low_resolution_point_cloud;
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Eigen::VectorXf rotational_scan_matcher_histogram;
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// The node pose in the local SLAM frame.
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transform::Rigid3d local_pose;
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};
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common::Time time() const { return constant_data->time; }
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// This must be a shared_ptr. If the data is used for visualization while the
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// node is being trimmed, it must survive until all use finishes.
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std::shared_ptr<const Data> constant_data;
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// The node pose in the global SLAM frame.
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transform::Rigid3d global_pose;
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};
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proto::TrajectoryNodeData ToProto(const TrajectoryNode::Data& constant_data);
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TrajectoryNode::Data FromProto(const proto::TrajectoryNodeData& proto);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
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