Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/SLAM/Cartographer/MapCartographerInfo.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/SLAM/Cartographer/MapCartographerInfo.cs
@@ -0,0 +1,117 @@
+using RobotNet10.RobotApp.Shared;
+
+namespace RobotNet10.RobotApp.SLAM.Cartographer;
+
+
+public class MapCartographerInfo : MapInfo
+{
+
+    /// <summary>
+    /// Cartographer configuration snapshot khi map được save
+    /// Dùng để validate khi load map
+    /// </summary>
+    public MapCartographerConfigSnapshot? MapConfig { get; init; }
+
+}
+
+/// <summary>
+/// Snapshot của CartographerConfiguration khi save map
+/// Chỉ lưu các phần cần thiết để recreate MapBuilder
+/// </summary>
+public class MapCartographerConfigSnapshot
+{
+    /// <summary>
+    /// Use 2D or 3D trajectory builder
+    /// </summary>
+    public bool Use2D { get; init; }
+
+    /// <summary>
+    /// MapBuilder configuration snapshot
+    /// </summary>
+    public MapCarographerBuilderConfigSnapshot MapBuilder { get; init; } = new();
+
+    /// <summary>
+    /// TrajectoryBuilder configuration snapshot (chỉ các phần quan trọng)
+    /// </summary>
+    public TrajectoryBuilderConfigSnapshot TrajectoryBuilder { get; init; } = new();
+}
+
+/// <summary>
+/// Snapshot của MapBuilderConfiguration
+/// </summary>
+public class MapCarographerBuilderConfigSnapshot
+{
+    public bool? UseTrajectoryBuilder2D { get; init; }
+    public bool? UseTrajectoryBuilder3D { get; init; }
+    public int NumBackgroundThreads { get; init; }
+    public int OptimizeEveryNNodes { get; init; }
+    public double MatcherTranslationWeight { get; init; }
+    public double MatcherRotationWeight { get; init; }
+    public int? MaxNumFinalIterations { get; init; }
+    public double? GlobalSamplingRatio { get; init; }
+    public bool? LogResidualHistograms { get; init; }
+    public double? GlobalConstraintSearchAfterNSeconds { get; init; }
+    public bool EnableSingleTrajectoryLoopClosure { get; init; } = true;
+    public double SingleTrajectoryLoopClosureDistanceThreshold { get; init; } = 3.0;
+    public OptimizationProblemOptionsSnapshot OptimizationProblemOptions { get; init; } = new();
+}
+
+/// <summary>
+/// Snapshot của OptimizationProblemOptions
+/// </summary>
+public class OptimizationProblemOptionsSnapshot
+{
+    public double HuberScale { get; init; }
+    public double AccelerationWeight { get; init; }
+    public double RotationWeight { get; init; }
+    public double LocalSlamPoseTranslationWeight { get; init; }
+    public double LocalSlamPoseRotationWeight { get; init; }
+    public double OdometryTranslationWeight { get; init; }
+    public double OdometryRotationWeight { get; init; }
+    public double FixedFramePoseTranslationWeight { get; init; }
+    public double FixedFramePoseRotationWeight { get; init; }
+    public bool FixedFramePoseUseTolerantLoss { get; init; }
+    public double FixedFramePoseTolerantLossParamA { get; init; }
+    public double FixedFramePoseTolerantLossParamB { get; init; }
+    public bool LogSolverSummary { get; init; }
+    public int MaxNumIterations { get; init; }
+}
+
+/// <summary>
+/// Snapshot của TrajectoryBuilderConfiguration (chỉ các phần quan trọng)
+/// </summary>
+public class TrajectoryBuilderConfigSnapshot
+{
+    public bool Use2D { get; init; }
+    public double MinRange { get; init; }
+    public double MaxRange { get; init; }
+    public double? MinZ { get; init; }
+    public double? MaxZ { get; init; }
+    public double? MissingDataRayLength { get; init; }
+    public double VoxelFilterSize { get; init; }
+    public int NumAccumulatedRangeData { get; init; }
+    public bool? UseImuData { get; init; }
+    public bool UseOnlineCorrelativeScanMatching { get; init; }
+}
+
+/// <summary>
+/// Result from loading map files (pbstream path and saved config)
+/// Used to separate file loading from CartographerSharp MapBuilder creation
+/// </summary>
+public class MapCartographerLoadResult
+{
+    /// <summary>
+    /// Đường dẫn đến file .pbstream
+    /// </summary>
+    public string PbstreamPath { get; init; } = string.Empty;
+
+    /// <summary>
+    /// Đường dẫn đến map folder
+    /// </summary>
+    public string MapPath { get; init; } = string.Empty;
+
+    /// <summary>
+    /// Cartographer configuration snapshot khi map được save (nếu có)
+    /// </summary>
+    public MapCartographerConfigSnapshot? SavedConfig { get; init; }
+}