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00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
00018 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
00019
00020 #include <vector>
00021
00022 #include "Eigen/Core"
00023 #include "cartographer/mapping/3d/hybrid_grid.h"
00024 #include "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.pb.h"
00025 #include "cartographer/sensor/point_cloud.h"
00026
00027 namespace cartographer {
00028 namespace mapping {
00029 namespace scan_matching {
00030
00031
00032
00033 class RealTimeCorrelativeScanMatcher3D {
00034 public:
00035 explicit RealTimeCorrelativeScanMatcher3D(
00036 const scan_matching::proto::RealTimeCorrelativeScanMatcherOptions&
00037 options);
00038
00039 RealTimeCorrelativeScanMatcher3D(const RealTimeCorrelativeScanMatcher3D&) =
00040 delete;
00041 RealTimeCorrelativeScanMatcher3D& operator=(
00042 const RealTimeCorrelativeScanMatcher3D&) = delete;
00043
00044
00045
00046
00047 float Match(const transform::Rigid3d& initial_pose_estimate,
00048 const sensor::PointCloud& point_cloud,
00049 const HybridGrid& hybrid_grid,
00050 transform::Rigid3d* pose_estimate) const;
00051
00052 private:
00053 std::vector<transform::Rigid3f> GenerateExhaustiveSearchTransforms(
00054 float resolution, const sensor::PointCloud& point_cloud) const;
00055 float ScoreCandidate(const HybridGrid& hybrid_grid,
00056 const sensor::PointCloud& transformed_point_cloud,
00057 const transform::Rigid3f& transform) const;
00058
00059 const proto::RealTimeCorrelativeScanMatcherOptions options_;
00060 };
00061
00062 }
00063 }
00064 }
00065
00066 #endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_