ceres_scan_matcher_3d.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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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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_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
18 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
19 
20 #include <utility>
21 #include <vector>
22 
23 #include "Eigen/Core"
26 #include "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_3d.pb.h"
29 
30 namespace cartographer {
31 namespace mapping {
32 namespace scan_matching {
33 
34 proto::CeresScanMatcherOptions3D CreateCeresScanMatcherOptions3D(
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 CeresScanMatcher3D(const proto::CeresScanMatcherOptions3D& options);
44 
45  CeresScanMatcher3D(const CeresScanMatcher3D&) = 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 Eigen::Vector3d& target_translation,
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::CeresScanMatcherOptions3D options_;
60  ceres::Solver::Options ceres_solver_options_;
61 };
62 
63 } // namespace scan_matching
64 } // namespace mapping
65 } // namespace cartographer
66 
67 #endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
proto::CeresScanMatcherOptions3D CreateCeresScanMatcherOptions3D(common::LuaParameterDictionary *const parameter_dictionary)
CeresScanMatcher3D(const proto::CeresScanMatcherOptions3D &options)
void Match(const Eigen::Vector3d &target_translation, const transform::Rigid3d &initial_pose_estimate, const std::vector< PointCloudAndHybridGridPointers > &point_clouds_and_hybrid_grids, transform::Rigid3d *pose_estimate, ceres::Solver::Summary *summary)
CeresScanMatcher3D & operator=(const CeresScanMatcher3D &)=delete
std::pair< const sensor::PointCloud *, const HybridGrid * > PointCloudAndHybridGridPointers


cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:58