00001 /* 00002 * Copyright 2018 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_RANGE_DATA_COLLATOR_H_ 00018 #define CARTOGRAPHER_MAPPING_INTERNAL_RANGE_DATA_COLLATOR_H_ 00019 00020 #include <memory> 00021 00022 #include "absl/memory/memory.h" 00023 #include "cartographer/sensor/timed_point_cloud_data.h" 00024 00025 namespace cartographer { 00026 namespace mapping { 00027 00028 // Synchronizes TimedPointCloudData from different sensors. Input needs only be 00029 // monotonous in 'TimedPointCloudData::time', output is monotonous in per-point 00030 // timing. Up to one message per sensor is buffered, so a delay of the period of 00031 // the slowest sensor may be introduced, which can be alleviated by passing 00032 // subdivisions. 00033 class RangeDataCollator { 00034 public: 00035 explicit RangeDataCollator( 00036 const std::vector<std::string>& expected_range_sensor_ids) 00037 : expected_sensor_ids_(expected_range_sensor_ids.begin(), 00038 expected_range_sensor_ids.end()) {} 00039 00040 sensor::TimedPointCloudOriginData AddRangeData( 00041 const std::string& sensor_id, 00042 const sensor::TimedPointCloudData& timed_point_cloud_data); 00043 00044 private: 00045 sensor::TimedPointCloudOriginData CropAndMerge(); 00046 00047 const std::set<std::string> expected_sensor_ids_; 00048 // Store at most one message for each sensor. 00049 std::map<std::string, sensor::TimedPointCloudData> id_to_pending_data_; 00050 common::Time current_start_ = common::Time::min(); 00051 common::Time current_end_ = common::Time::min(); 00052 }; 00053 00054 } // namespace mapping 00055 } // namespace cartographer 00056 00057 #endif // CARTOGRAPHER_MAPPING_INTERNAL_RANGE_DATA_COLLATOR_H_