cartographer之LocalTrajetoryBuilder2D

最新推荐文章于 2024-09-12 09:37:57 发布

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最新推荐文章于 2024-09-12 09:37:57 发布

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分类专栏：《cartographer从入门到精通》

本文链接：https://blog.csdn.net/windxf/article/details/119316130

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class LocalTrajcectoryBuilder2D{
public:
  struct InsertionResult{
    std::shared_ptr<const  TrajectoryNode::Data> constant_data;
    std::vector<std::shared_ptr<const Submap2D>> insertion_submaps;
 };

  struct MatchingResult{
   common::Time time;
   transform::Rigid3d local_pose;
   sensor::RangeData range_data_in_local;
   std::unique_ptr<const InsertionResult> insertion_result;

}
  explicit LocalTrajectoryBuilder2D(
      const proto::LocalTrajectoryBuilderOptions2D& options,
      const std::vector<std::string>& expected_range_sensor_ids
);

  ~LocalTrajectoryBuilder2D();

  LocalTrajectoryBuilder2D(const LocalTrajectoryBuilder2D&) = delete;
  LocalTrajectoryBuilder2D& operator=(const LocalTrajectoryBuilder2D&) = delete;

  std::unique_ptr<MatchingResult> AddRangeData(
       const std::string& sensor_id,
       const sensor::TimePointCloudData& range_data
);

  void AddImuData(cosnt sensor::ImuData& imu_data);
  void AddOdometryData(const sensor::OdometryData& odometry_data);

  static void RegisterMetrics(metrics::FamilyFactory* family_factory);

private:

   const proto::LocalTrajectoryBuilderOption2D options_;
   ActiveSubmap2D active_submaps_;
   MotionFilter motion_filter_;
   scan_matching::RealTimeCorrelativeScanMatcher2D
     real_time_correlative_scan_matcher_;
   scan_matching::CeresScanMatcher2D ceres_scan_matcher_;
   std::unique_ptr<PoseExtrapolator> extrapolator_;
   
   int num_accumulated_ = 0;
   sensor::RangeData accumulated_range_data_;

   absl::optional<std::chrono::steady_clock::time_point> last_wall_time_;
   absl::optional<double> last_thread_cpu_time_seconds_;
   absl::optional<common::Time> last_sensor_time_;

   RangeDataCollator range_data_collator_;

   common::Time last_match_time_ = common::Time::min();

}