cartographer源码分析(24)-sensor-configuration.h

源码可在https://github.com/learnmoreonce/SLAM 下载

文件:sensor/configuration.h#ifndef CARTOGRAPHER_SENSOR_CONFIGURATION_H_#define CARTOGRAPHER_SENSOR_CONFIGURATION_H_#include "Eigen/Geometry"#include "cartographer/common/lua_parameter_dictionary.h"#include "cartographer/sensor/proto/configuration.pb.h"#include "cartographer/transform/rigid_transform.h"namespace cartographer {namespace sensor {//从sensor配置文件解析sensor的数据参数。主要是sensor到机器坐标的转换// Creates the configuration for a singular sensor from 'parameter_dictionary'.proto::Configuration::Sensor CreateSensorConfiguration(    common::LuaParameterDictionary* parameter_dictionary);//求得多个sensor的配置的集合。// Creates the mapping from frame_id to Sensors defined in// 'parameter_dictionary'.proto::Configuration CreateConfiguration(    common::LuaParameterDictionary* parameter_dictionary);//系统是否支持某一传感器。// Returns true if 'frame_id' is mentioned in 'sensor_configuration'.bool IsEnabled(const string& frame_id,               const sensor::proto::Configuration& sensor_configuration);//将sensor采集的data经过3d坐标变换为机器坐标。// Returns the transform which takes data from the sensor frame to the// tracking frame.transform::Rigid3d GetTransformToTracking(    const string& frame_id,    const sensor::proto::Configuration& sensor_configuration);}  // namespace sensor}  // namespace cartographer#endif  // CARTOGRAPHER_SENSOR_CONFIGURATION_H_

文件:sensor/configuration.cc#include "cartographer/sensor/configuration.h"#include "Eigen/Core"#include "Eigen/Geometry"#include "cartographer/sensor/proto/configuration.pb.h"#include "cartographer/transform/proto/transform.pb.h"#include "cartographer/transform/rigid_transform.h"#include "cartographer/transform/transform.h"#include "glog/logging.h"namespace cartographer {namespace sensor {/*assets_writer_backpack_2d.luaSensor定义：  message Sensor {  string frame_id = 2; //'frame_id' of the sensor.  Rigid3d transform = 3;  }*/proto::Configuration::Sensor CreateSensorConfiguration(    common::LuaParameterDictionary* const parameter_dictionary) {  proto::Configuration::Sensor sensor;  sensor.set_frame_id(parameter_dictionary->GetString("frame_id"));  *sensor.mutable_transform() = transform::ToProto(transform::FromDictionary(      parameter_dictionary->GetDictionary("transform").get()));  return sensor;}/*Configuration定义：message Configuration {    repeated Sensor sensor = 15;}*/proto::Configuration CreateConfiguration(    common::LuaParameterDictionary* const parameter_dictionary) {  proto::Configuration configuration;  for (auto& sensor_parameter_dictionary :       parameter_dictionary->GetArrayValuesAsDictionaries()) {    *configuration.add_sensor() =        CreateSensorConfiguration(sensor_parameter_dictionary.get());  }  return configuration;}/*判断系统是否支持某一传感器id。*/bool IsEnabled(const string& frame_id,               const sensor::proto::Configuration& sensor_configuration) {  for (const auto& sensor : sensor_configuration.sensor()) {    if (sensor.frame_id() == frame_id) {      return true;    }  }  return false;}/*将sensor坐标转换为机器坐标。以便于跟踪计算*/transform::Rigid3d GetTransformToTracking(    const string& frame_id,    const sensor::proto::Configuration& sensor_configuration) {  for (const auto& sensor : sensor_configuration.sensor()) {    if (sensor.frame_id() == frame_id) {      return transform::ToRigid3(sensor.transform());    }  }  LOG(FATAL) << "No configuration found for sensor with frame ID '" << frame_id             << "'.";}}  // namespace sensor}  // namespace cartographer```c++测试代码:

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* http://www.jianshu.com/u/9e38d2febec1
* https://zhuanlan.zhihu.com/learnmoreonce
* http://blog.csdn.net/learnmoreonce
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