mapping_3d/scan_matching/ceres_scan_matcher.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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15  */
16 
17 #ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_H_
18 #define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_H_
19 
20 #include <utility>
21 #include <vector>
22 
23 #include "Eigen/Core"
26 #include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.pb.h"
29 
30 namespace cartographer {
31 namespace mapping_3d {
32 namespace scan_matching {
33 
34 proto::CeresScanMatcherOptions CreateCeresScanMatcherOptions(
35  common::LuaParameterDictionary* parameter_dictionary);
36 
38  std::pair<const sensor::PointCloud*, const HybridGrid*>;
39 
40 // This scan matcher uses Ceres to align scans with an existing map.
42  public:
43  explicit CeresScanMatcher(const proto::CeresScanMatcherOptions& options);
44 
45  CeresScanMatcher(const CeresScanMatcher&) = delete;
47 
48  // Aligns 'point_clouds' within the 'hybrid_grids' given an
49  // 'initial_pose_estimate' and returns a 'pose_estimate' and the solver
50  // 'summary'.
51  void Match(const transform::Rigid3d& previous_pose,
52  const transform::Rigid3d& initial_pose_estimate,
53  const std::vector<PointCloudAndHybridGridPointers>&
54  point_clouds_and_hybrid_grids,
55  transform::Rigid3d* pose_estimate,
56  ceres::Solver::Summary* summary);
57 
58  private:
59  const proto::CeresScanMatcherOptions options_;
60  ceres::Solver::Options ceres_solver_options_;
61 };
62 
63 } // namespace scan_matching
64 } // namespace mapping_3d
65 } // namespace cartographer
66 
67 #endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_H_
void Match(const transform::Rigid3d &previous_pose, const transform::Rigid3d &initial_pose_estimate, const std::vector< PointCloudAndHybridGridPointers > &point_clouds_and_hybrid_grids, transform::Rigid3d *pose_estimate, ceres::Solver::Summary *summary)
std::pair< const sensor::PointCloud *, const HybridGrid * > PointCloudAndHybridGridPointers
proto::CeresScanMatcherOptions CreateCeresScanMatcherOptions(common::LuaParameterDictionary *const parameter_dictionary)
CeresScanMatcher & operator=(const CeresScanMatcher &)=delete


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autogenerated on Wed Jun 5 2019 21:57:58