cartographer代码里懵比的瞬间

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已于 2023-07-07 11:24:30 修改

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分类专栏：编程 GSLAM 文章标签：自动驾驶人工智能 c++

于 2022-03-22 15:20:49 首次发布

本文链接：https://blog.csdn.net/z15f34/article/details/123661768

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::namespace

void Node::MaybeWarnAboutTopicMismatch(
    const ::ros::WallTimerEvent& unused_timer_event) {
  ::ros::master::V_TopicInfo ros_topics;
  ::ros::master::getTopics(ros_topics);
  std::set<std::string> published_topics;
  std::stringstream published_topics_string;
  for (const auto& it : ros_topics)

一开始看到命名空间前面加::感觉很神奇，谷歌里的大神写的代码就是吊，再后来感觉这玩意没啥用，谷歌大神就喜欢装比，实在摸不着头脑，查了一下资料，你大爷还是你大爷！原来加上::是把该命名空间或者函数定义成全局的，避免出错。

命名空间和函数前面加上：： - maolike - 博客园经常看到命名空间前就只有：：比如：：test;这种代表是全局的test 比如：：CreateDirectory（..），代表使用系统API也就是全局的避免使用到局部定义的test命名空间或者函https://www.cnblogs.com/likemao/p/10368614.html

Node(const Node&) = delete;

  explicit Node(double resolution, double publish_period_sec);
  ~Node() {}

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

GUARDED_BY(mutex_)

std::map<SubmapId, SubmapSlice> submap_slices_ GUARDED_BY(mutex_);

copy_if

PointCloud CropPointCloud(const PointCloud& point_cloud, const float min_z,
                          const float max_z)
{
  return point_cloud.copy_if([min_z, max_z](const RangefinderPoint& point) {
return min_z <= point.position.z() && point.position.z() <= max_z;
});
}

....

  // Creates a PointCloud consisting of all the points for which `predicate`
  // returns true, together with the corresponding intensities.
  template <class UnaryPredicate>
  PointCloud copy_if(UnaryPredicate predicate) const {
    std::vector<PointType> points;
    std::vector<float> intensities;

    // Note: benchmarks show that it is better to have this conditional outside
    // the loop.
    if (intensities_.empty()) {
      for (size_t index = 0; index < size(); ++index) {
        const PointType& point = points_[index];
        if (predicate(point)) {
          points.push_back(point);
        }
      }
    } else {
      for (size_t index = 0; index < size(); ++index) {
        const PointType& point = points_[index];
        if (predicate(point)) {
          points.push_back(point);
          intensities.push_back(intensities_[index]);
        }
      }
    }

    return PointCloud(points, intensities);
  }