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_2D_TSDF_RANGE_DATA_INSERTER_2D_H_ 00018 #define CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_ 00019 00020 #include "cartographer/common/lua_parameter_dictionary.h" 00021 #include "cartographer/mapping/2d/tsdf_2d.h" 00022 #include "cartographer/mapping/proto/2d/tsdf_range_data_inserter_options_2d.pb.h" 00023 #include "cartographer/mapping/range_data_inserter_interface.h" 00024 #include "cartographer/sensor/point_cloud.h" 00025 #include "cartographer/sensor/range_data.h" 00026 00027 namespace cartographer { 00028 namespace mapping { 00029 00030 proto::TSDFRangeDataInserterOptions2D CreateTSDFRangeDataInserterOptions2D( 00031 common::LuaParameterDictionary* parameter_dictionary); 00032 00033 class TSDFRangeDataInserter2D : public RangeDataInserterInterface { 00034 public: 00035 explicit TSDFRangeDataInserter2D( 00036 const proto::TSDFRangeDataInserterOptions2D& options); 00037 00038 TSDFRangeDataInserter2D(const TSDFRangeDataInserter2D&) = delete; 00039 TSDFRangeDataInserter2D& operator=(const TSDFRangeDataInserter2D&) = delete; 00040 00041 // Casts a ray from origin towards hit for each hit in range data. 00042 // If 'options.update_free_space' is 'true', all cells along the ray 00043 // until 'truncation_distance' behind hit are updated. Otherwise, only the 00044 // cells within 'truncation_distance' around hit are updated. 00045 virtual void Insert(const sensor::RangeData& range_data, 00046 GridInterface* grid) const override; 00047 00048 private: 00049 void InsertHit(const proto::TSDFRangeDataInserterOptions2D& options, 00050 const Eigen::Vector2f& hit, const Eigen::Vector2f& origin, 00051 float normal, TSDF2D* tsdf) const; 00052 void UpdateCell(const Eigen::Array2i& cell, float update_sdf, 00053 float update_weight, TSDF2D* tsdf) const; 00054 const proto::TSDFRangeDataInserterOptions2D options_; 00055 }; 00056 00057 } // namespace mapping 00058 } // namespace cartographer 00059 00060 #endif // CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_