cartographer--zhushi_cartographer源码注释版本_rubbedene_slam_slam定位_

# Copyright 2016 The Cartographer Authors # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. add_subdirectory("proto") add_subdirectory("scan_matching") add_subdirectory("sparse_pose_graph") google_library(mapping_3d_acceleration_cost_function USES_EIGEN HDRS acceleration_cost_function.h ) google_library(mapping_3d_ceres_pose USES_CERES USES_EIGEN SRCS ceres_pose.cc HDRS ceres_pose.h DEPENDS transform_rigid_transform ) google_library(mapping_3d_global_trajectory_builder SRCS global_trajectory_builder.cc HDRS global_trajectory_builder.h DEPENDS mapping_3d_local_trajectory_builder mapping_3d_proto_local_trajectory_builder_options mapping_3d_sparse_pose_graph mapping_global_trajectory_builder_interface ) google_library(mapping_3d_hybrid_grid USES_CERES USES_EIGEN HDRS hybrid_grid.h DEPENDS common_make_unique common_math common_port mapping_probability_values ) google_library(mapping_3d_imu_integration USES_CERES USES_EIGEN SRCS imu_integration.cc HDRS imu_integration.h DEPENDS common_time transform_transform ) google_library(mapping_3d_kalman_local_trajectory_builder USES_CERES SRCS kalman_local_trajectory_builder.cc HDRS kalman_local_trajectory_builder.h DEPENDS common_make_unique common_time kalman_filter_pose_tracker kalman_filter_proto_pose_tracker_options mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options mapping_3d_local_trajectory_builder_interface mapping_3d_motion_filter mapping_3d_proto_local_trajectory_builder_options mapping_3d_proto_submaps_options mapping_3d_scan_matching_ceres_scan_matcher mapping_3d_scan_matching_proto_ceres_scan_matcher_options mapping_3d_scan_matching_real_time_correlative_scan_matcher mapping_3d_submaps mapping_global_trajectory_builder_interface sensor_laser sensor_voxel_filter ) google_library(mapping_3d_kalman_local_trajectory_builder_options SRCS kalman_local_trajectory_builder_options.cc HDRS kalman_local_trajectory_builder_options.h DEPENDS common_lua_parameter_dictionary kalman_filter_pose_tracker mapping_2d_scan_matching_real_time_correlative_scan_matcher mapping_3d_proto_kalman_local_trajectory_builder_options ) google_library(mapping_3d_laser_fan_inserter USES_CERES USES_EIGEN SRCS laser_fan_inserter.cc HDRS laser_fan_inserter.h DEPENDS mapping_3d_hybrid_grid mapping_3d_proto_laser_fan_inserter_options mapping_probability_values sensor_laser sensor_point_cloud ) google_library(mapping_3d_local_trajectory_builder SRCS local_trajectory_builder.cc HDRS local_trajectory_builder.h DEPENDS common_make_unique mapping_3d_kalman_local_trajectory_builder mapping_3d_local_trajectory_builder_interface mapping_3d_optimizing_local_trajectory_builder mapping_3d_proto_local_trajectory_builder_options ) google_library(mapping_3d_local_trajectory_builder_interface HDRS local_trajectory_builder_interface.h DEPENDS common_time mapping_3d_submaps mapping_global_trajectory_builder_interface sensor_laser transform_rigid_transform ) google_library(mapping_3d_local_trajectory_builder_options USES_CERES SRCS local_trajectory_builder_options.cc HDRS local_trajectory_builder_options.h DEPENDS common_lua_parameter_dictionary mapping_3d_kalman_local_trajectory_builder_options mapping_3d_motion_filter mapping_3d_optimizing_local_trajectory_builder_options mapping_3d_proto_local_trajectory_builder_options mapping_3d_scan_matching_ceres_scan_matcher mapping_3d_submaps sensor_voxel_filter ) google_library(mapping_3d_motion_filter USES_CERES SRCS motion_filter.cc HDRS motion_filter.h DEPENDS common_lua_parameter_dictionary common_time mapping_3d_proto_motion_filter_options transform_rigid_transform transform_transform ) google_library(mapping_3d_optimizing_local_trajectory_builder USES_CERES SRCS optimizing_local_trajectory_builder.cc HDRS optimizing_local_trajectory_builder.h DEPENDS common_ceres_solver_options common_make_unique common_time kalman_filter_pose_tracker mapping_3d_imu_integration mapping_3d_local_trajectory_builder_interface mapping_3d_motion_filter mapping_3d_proto_local_trajectory_builder_options mapping_3d_proto_optimizing_local_trajectory_builder_options mapping_3d_rotation_cost_function mapping_3d_scan_matching_occupied_space_cost_functor mapping_3d_scan_matching_proto_ceres_scan_matcher_options mapping_3d_scan_matching_translation_delta_cost_functor mapping_3d_submaps mapping_3d_translation_cost_function mapping_global_trajectory_builder_interface sensor_laser sensor_voxel_filter transform_rigid_transform transform_transform transform_transform_interpolation_buffer ) google_library(mapping_3d_optimizing_local_trajectory_builder_options SRCS optimizing_local_trajectory_builder_options.cc HDRS optimizing_local_trajectory_builder_options.h DEPENDS common_lua_parameter_dictionary mapping_3d_proto_optimizing_local_trajectory_builder_options ) google_library(mapping_3d_rotation_cost_function USES_EIGEN HDRS rotation_cost_function.h ) google_library(mapping_3d_sparse_pose_graph USES_CERES USES_EIGEN SRCS sparse_pose_graph.cc HDRS sparse_pose_graph.h DEPENDS common_fixed_ratio_sampler common_make_unique common_math common_mutex common_thread_pool common_time kalman_filter_pose_tracker mapping_3d_sparse_pose_graph_constraint_builder mapping_3d_sparse_pose_graph_optimization_problem mapping_3d_submaps mapping_proto_scan_matching_progress mapping_sparse_pose_graph mapping_sparse_pose_graph_proto_constraint_builder_options mapping_trajectory_connectivity sensor_point_cloud sensor_voxel_filter transform_rigid_transform transform_transform ) google_library(mapping_3d_submaps USES_CERES USES_EIGEN SRCS submaps.cc HDRS submaps.h DEPENDS common_math common_port mapping_2d_laser_fan_inserter mapping_2d_probability_grid mapping_3d_hybrid_grid mapping_3d_laser_fan_inserter mapping_3d_proto_submaps_options mapping_sparse_pose_graph mapping_submaps sensor_laser transform_transform ) google_library(mapping_3d_translation_cost_function USES_EIGEN HDRS translation_cost_function.h ) google_test(mapping_3d_hybrid_grid_test SRCS hybrid_grid_test.cc DEPENDS mapping_3d_hybrid_grid ) google_test(mapping_3d_kalman_local_trajectory_builder_test USES_CERES USES_EIGEN SRCS kalman_local_trajectory_builder_test.cc DEPENDS common_lua_parameter_dictionary_test_helpers common_time mapping_3d_hybrid_grid mapping_3d_kalman_local_trajectory_builder mapping_3d_local_trajectory_builder_options sensor_laser transform_rigid_transform transform_rigid_transform_test_helpers transform_transform ) google_test(mapping_3d_laser_fan_inserter_test SRCS laser_fan_inserter_test.cc DEPENDS common_lua_parameter_dictionary_test_helpers mapping_3d_laser_fan_inserter ) google_test(mapping_3d_motion_filter_test SRCS motion_filter_test.cc DEPENDS common_lua_parameter_dictionary_te