103 lines
3.5 KiB
C#
103 lines
3.5 KiB
C#
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using CartographerSharp.Transform;
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namespace CartographerSharp.Mapping;
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/// <summary>
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/// An individual submap, which has a 'local_pose' in the local map frame, keeps
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/// track of how many range data were inserted into it, and sets
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/// 'insertion_finished' when the map no longer changes and is ready for loop
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/// closing.
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/// </summary>
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public abstract class Submap(Rigid3d localSubmapPose)
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{
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private int _numRangeData = 0;
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private bool _insertionFinished = false;
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/// <summary>
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/// Pose of this submap in the local map frame.
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/// </summary>
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public Rigid3d LocalPose => localSubmapPose;
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/// <summary>
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/// Number of RangeData inserted.
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/// </summary>
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public int NumRangeData
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{
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get => Volatile.Read(ref _numRangeData);
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set => Volatile.Write(ref _numRangeData, value);
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}
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/// <summary>
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/// Whether insertion is finished.
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/// </summary>
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public bool InsertionFinished
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{
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get => _insertionFinished;
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set => _insertionFinished = value;
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}
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/// <summary>
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/// Converts to proto representation.
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/// </summary>
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public abstract Models.Mapping.Submap ToProto(bool includeGridData);
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/// <summary>
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/// Updates from proto representation.
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/// </summary>
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public abstract void UpdateFromProto(Models.Mapping.Submap proto);
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/// <summary>
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/// Fills data into the response proto.
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/// Note: SubmapQueryResponse proto will be implemented later.
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/// </summary>
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// public abstract void ToResponseProto(Rigid3d globalSubmapPose, SubmapQueryResponse response);
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}
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/// <summary>
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/// Probability value conversion utilities for submaps.
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/// </summary>
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public static class SubmapProbabilityUtils
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{
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/// <summary>
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/// Converts the given probability to log odds.
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/// </summary>
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public static double Logit(double probability)
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{
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return Math.Log(probability / (1.0 - probability));
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}
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public static readonly double kMaxLogOdds = Logit(ProbabilityValues.kMaxProbability);
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public static readonly double kMinLogOdds = Logit(ProbabilityValues.kMinProbability);
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/// <summary>
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/// Converts a probability to a log odds integer. 0 means unknown, [kMinLogOdds,
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/// kMaxLogOdds] is mapped to [1, 255].
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/// </summary>
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public static byte ProbabilityToLogOddsInteger(double probability)
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{
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// Match C++: common::RoundToInt uses std::lround which rounds to nearest integer
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// with rounding half away from zero (not banker's rounding)
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var value = (int)Math.Round((Logit(probability) - kMinLogOdds) *
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254.0 / (kMaxLogOdds - kMinLogOdds),
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MidpointRounding.AwayFromZero) + 1;
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value = Math.Max(1, Math.Min(255, value));
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return (byte)value;
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}
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}
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