重看 cartographer ros

看的是0.1.0的版本

std::unique_ptr<nav_msgs::OccupancyGrid>
MapBuilderBridge::BuildOccupancyGrid() {
  CHECK(options_.map_builder_options.use_trajectory_builder_2d())
      << "Publishing OccupancyGrids for 3D data is not yet supported";
  std::vector<::cartographer::mapping::TrajectoryNode> trajectory_nodes;
  for (const auto& single_trajectory :
       map_builder_.sparse_pose_graph()->GetTrajectoryNodes()) {
    trajectory_nodes.insert(trajectory_nodes.end(), single_trajectory.begin(),
                            single_trajectory.end());
  }
  std::unique_ptr<nav_msgs::OccupancyGrid> occupancy_grid;
  if (!trajectory_nodes.empty()) {
    occupancy_grid =
        cartographer::common::make_unique<nav_msgs::OccupancyGrid>();
    BuildOccupancyGrid2D(
        trajectory_nodes, options_.map_frame,
        options_.trajectory_builder_options.trajectory_builder_2d_options()
            .submaps_options(),
        occupancy_grid.get());
  }
  return occupancy_grid;
}

// Writes an occupancy grid. 这里调接口
void Write2DAssets(
    const std::vector<::cartographer::mapping::TrajectoryNode>&
        trajectory_nodes,
    const string& map_frame,
    const ::cartographer::mapping_2d::proto::SubmapsOptions& submaps_options,
    const std::string& stem) {
  WriteTrajectory(trajectory_nodes, stem);

  ::nav_msgs::OccupancyGrid occupancy_grid;
  BuildOccupancyGrid2D(trajectory_nodes, map_frame, submaps_options,
                       &occupancy_grid);
  WriteOccupancyGridToPgmAndYaml(occupancy_grid, stem);
}

 

BuildOccupancyGrid2D  这个这occupancy.h下

void BuildOccupancyGrid2D(
    const std::vector<::cartographer::mapping::TrajectoryNode>&
        trajectory_nodes,
    const string& map_frame,
    const ::cartographer::mapping_2d::proto::SubmapsOptions& submaps_options,
    ::nav_msgs::OccupancyGrid* const occupancy_grid);

}

可以看出来 要轨迹的节点，和submap_options 应该是

//下面是轨迹的节点 结构如下，时间，激光，id, pose刚体变换

struct TrajectoryNode {
  struct ConstantData {
    common::Time time;

    // Range data in 'pose' frame. Only used in the 2D case.
    sensor::RangeData range_data_2d;

    // Range data in 'pose' frame. Only used in the 3D case.
    sensor::CompressedRangeData range_data_3d;

    // Trajectory this node belongs to.