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00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
00018 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
00019
00020 #include <utility>
00021 #include <vector>
00022
00023 #include "Eigen/Core"
00024 #include "cartographer/common/lua_parameter_dictionary.h"
00025 #include "cartographer/mapping/3d/hybrid_grid.h"
00026 #include "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_3d.pb.h"
00027 #include "cartographer/sensor/point_cloud.h"
00028 #include "cartographer/transform/rigid_transform.h"
00029
00030 namespace cartographer {
00031 namespace mapping {
00032 namespace scan_matching {
00033
00034 proto::CeresScanMatcherOptions3D CreateCeresScanMatcherOptions3D(
00035 common::LuaParameterDictionary* parameter_dictionary);
00036
00037 using PointCloudAndHybridGridPointers =
00038 std::pair<const sensor::PointCloud*, const HybridGrid*>;
00039
00040
00041 class CeresScanMatcher3D {
00042 public:
00043 explicit CeresScanMatcher3D(const proto::CeresScanMatcherOptions3D& options);
00044
00045 CeresScanMatcher3D(const CeresScanMatcher3D&) = delete;
00046 CeresScanMatcher3D& operator=(const CeresScanMatcher3D&) = delete;
00047
00048
00049
00050
00051 void Match(const Eigen::Vector3d& target_translation,
00052 const transform::Rigid3d& initial_pose_estimate,
00053 const std::vector<PointCloudAndHybridGridPointers>&
00054 point_clouds_and_hybrid_grids,
00055 transform::Rigid3d* pose_estimate,
00056 ceres::Solver::Summary* summary);
00057
00058 private:
00059 const proto::CeresScanMatcherOptions3D options_;
00060 ceres::Solver::Options ceres_solver_options_;
00061 };
00062
00063 }
00064 }
00065 }
00066
00067 #endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_