101 lines
4.2 KiB
C#
101 lines
4.2 KiB
C#
/*
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* Copyright 2017 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.Models.Mapping;
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using CartographerSharp.Transform;
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namespace CartographerSharp.Mapping;
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/// <summary>
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/// This interface is used for both library and RPC implementations.
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/// Implementations wire up the complete SLAM stack.
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/// </summary>
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public interface IMapBuilder : IDisposable
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{
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/// <summary>
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/// Creates a new trajectory builder and returns its index.
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/// </summary>
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int AddTrajectoryBuilder(
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HashSet<ITrajectoryBuilder.SensorId> expectedSensorIds,
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TrajectoryBuilderOptions trajectoryOptions);
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/// <summary>
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/// Creates a new trajectory and returns its index. Querying the trajectory
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/// builder for it will return 'null'.
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/// </summary>
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int AddTrajectoryForDeserialization(
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TrajectoryBuilderOptionsWithSensorIds optionsWithSensorIdsProto);
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/// <summary>
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/// Returns the 'ITrajectoryBuilder' corresponding to the specified
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/// 'trajectory_id' or 'null' if the trajectory has no corresponding builder.
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/// </summary>
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ITrajectoryBuilder? GetTrajectoryBuilder(int trajectoryId);
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/// <summary>
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/// Marks the TrajectoryBuilder corresponding to 'trajectory_id' as finished,
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/// i.e. no further sensor data is expected.
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/// </summary>
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void FinishTrajectory(int trajectoryId);
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/// <summary>
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/// Fills the SubmapQuery::Response corresponding to 'submap_id'. Returns an
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/// error string on failure, or an empty string on success.
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/// </summary>
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string SubmapToProto(SubmapId submapId, out Models.Mapping.SubmapQuery.Response response);
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/// <summary>
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/// Serializes the current state to a proto stream. If
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/// 'include_unfinished_submaps' is set to true, unfinished submaps, i.e.
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/// submaps that have not yet received all rangefinder data insertions, will
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/// be included in the serialized state.
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/// </summary>
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void SerializeState(bool includeUnfinishedSubmaps, IO.IProtoStreamWriter writer);
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/// <summary>
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/// Serializes the current state to a proto stream file on the host system.
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/// Returns true if the file was successfully written.
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/// </summary>
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bool SerializeStateToFile(bool includeUnfinishedSubmaps, string filename);
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/// <summary>
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/// Loads the SLAM state from a proto stream. Returns the remapping of new trajectory_ids.
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/// </summary>
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Dictionary<int, int> LoadState(IO.IProtoStreamReader reader, bool loadFrozenState);
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/// <summary>
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/// Loads the SLAM state from a pbstream file. Returns the remapping of new trajectory_ids.
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/// </summary>
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Dictionary<int, int> LoadStateFromFile(string filename, bool loadFrozenState);
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/// <summary>
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/// Starts relocalization (match C++ MapBuilder::StartRelocalization).
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/// Sets pose graph localization callback and initial poses so constraint builder
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/// uses them when finding constraints (MaybeAddLocalizationConstraint).
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/// Call after AddTrajectoryBuilder when starting localization (e.g. xloc calls
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/// StartRelocalization(initial_poses, callback) after AddTrajectory).
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/// </summary>
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/// <param name="initialPoses">Initial poses in global frame (e.g. from MCL).</param>
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/// <param name="callback">Invoked when relocalization succeeds or when max nodes searched without success (trajectoryId=-1).</param>
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void StartRelocalization(IReadOnlyList<Rigid3d> initialPoses, Action<int, long, Rigid3d>? callback);
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int NumTrajectoryBuilders { get; }
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IPoseGraph PoseGraph { get; }
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List<TrajectoryBuilderOptionsWithSensorIds> GetAllTrajectoryBuilderOptions();
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}
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