carographer流程
作者：互联网
node_main.cc 93 Run启动
58 Node初始化
64 node.StartTrajectoryWithDefaultTopics(trajectory_options);
node.cc 517 StartTrajectoryWithDefaultTopics
520 AddTrajectory(options, DefaultSensorTopics());
335 AddTrajectory
340 map_builder_bridge_.AddTrajectory(expected_sensor_ids, options);
map_builder_bridge.cc 120 AddTrajectory
124 const int trajectory_id = map_builder_->AddTrajectoryBuilder
130 输出创建轨迹trajectory_id
map_builder_interface.h 54 虚函数AddTrajectoryBuilder
map_builder.h 45 重写虚函数AddTrajectoryBuilder
map_builder.cc 98 重写虚函数AddTrajectoryBuilder
102 trajectory_id = trajectory_builders_.size()
121 local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder2D>(trajectory_options.trajectory_builder_2d_options(),SelectRangeSensorIds(expected_sensor_ids));
local_trajectory_builder_2d.cc 36 构造函数active_submaps_(options.submaps_options()),
submap_2d.cc 129 构造函数ActiveSubmaps2D
134 AddSubmap(Eigen::Vector2f::Zero());添加第一个submap
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collator_interface.h 54 虚函数AddSensorData
49 虚函数FinishTrajectory(int trajectory_id)
trajectory_collator.h 49 重写虚函数 AddSensorData
47 重写虚函数FinishTrajectory
collator.cc 36 重写虚函数Collator::FinishTrajectory(const int trajectory_id)
42 重写虚函数void Collator::AddSensorData(const int trajectory_id,std::unique_ptr<Data> data)
ordered_multi_queue.cc 54 MarkQueueAsFinished 60 Dispatch()
63 Add 64 Dispatch()
92 Dispatch()
124 const common::Time common_start_time =GetCommonStartTime(next_queue_key.trajectory_id);
161 GetCommonStartTime(const int trajectory_id)
172 输出为轨迹0提供好传感器的时间
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sensor_bridge.cc 64 HandleOdometryMessage 69 trajectory_builder_->AddSensorData
75 HandleNavSatFixMessage 79 trajectory_builder_->AddSensorData
101 HandleLandmarkMessage 104 trajectory_builder_->AddSensorData
137 HandleImuMessage 141 trajectory_builder_->AddSensorData
222 HandleRangefinder 228 trajectory_builder_->AddSensorData
trajectory_builder_interface.h 96-107 虚函数AddSensorData
global_trajectory_builder.cc 52/94/103/113 虚函数重载AddSensorData
global_trajectory_builder.h 33/39 CreateGlobalTrajectoryBuilder2D/CreateGlobalTrajectoryBuilder3D
map_builder.cc 129/114 CreateGlobalTrajectoryBuilder2D/CreateGlobalTrajectoryBuilder3D
collated_trajectory_builder.cc 33 构造函数CollatedTrajectoryBuilder,继承TrajectoryBuilderInterface
trajectory_builder_interface.h 48 类定义TrajectoryBuilderInterface
map_builder.cc 126/111 trajectory_builders_.push_back
98 AddTrajectoryBuilder
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global_trajectory_builder.cc 52/94/103/113 虚函数重载AddSensorData
52 AddSensorData 58 local_trajectory_builder_->AddRangeData
86 AddSensorData 89 local_trajectory_builder_->AddImuData(imu_data); 91 pose_graph_->AddImuData(trajectory_id_, imu_data);
94 AddSensorData 98 local_trajectory_builder_->AddOdometryData(odometry_data); 100 pose_graph_->AddOdometryData(trajectory_id_, odometry_data);
map_builder.cc 119 std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder;
local_trajectory_builder_2d.h 71 AddRangeData
74 AddImuData
75 AddOdometryData
local_trajectory_builder_2d.cc 112 range_data_collator_.AddRangeData(sensor_id, unsynchronized_data);\
288 extrapolator_->AddImuData(imu_data); /初始化extrapolator_
298 extrapolator_->AddOdometryData(odometry_data);
---->
range_data_collator.cc 28 AddRangeData
pose_extrapolator.cc 91 AddImuData
98 AddOdometryData
*********************************************************************************************************************************************************
collated_trajectory_builder.cc 56 HandleCollatedSensorData
46 回调函数HandleCollatedSensorData
collator_interface.h 43 AddTrajectory
trajectory_collator.h 43 AddTrajectory
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submap_2d.cc 187 输出添加submap信息
177 AddSubmap
148 AddSubmap(range_data.origin.head<2>());
143 InsertRangeData
local_trajectory_builder_2d.cc 266 active_submaps_.InsertRangeData(range_data_in_local);
251 InsertIntoSubmap
240 InsertIntoSubmap(time, range_data_in_local, gravity_aligned_range_data,pose_estimate, gravity_alignment.rotation());
210 AddAccumulatedRangeData
199 AddAccumulatedRangeData
108 AddRangeData
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constraint_builder_2d.cc 281 输出约束信息
270 RunWhenDoneCallback()
154 设置回调函数when_done_task_->SetWorkItem([this] { RunWhenDoneCallback(); });
146 WhenDone
pose_graph_2d.cc 304 constraint_builder_.WhenDone
384 constraint_builder_.WhenDone
410 constraint_builder_.WhenDone
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optimization_problem_2d.cc 306 LOG(INFO) << summary.FullReport();
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constraint_builder_2d.cc 266 LOG(INFO) << info.str();
180 ComputeConstraint
97 ComputeConstraint 75 MaybeAddConstraint
122 ComputeConstraint 107 MaybeAddGlobalConstraint
pose_graph_2d.cc 214 constraint_builder_.MaybeAddConstraint
219 constraint_builder_.MaybeAddGlobalConstraint
192 ComputeConstraint
276 ComputeConstraint(node_id, submap_id_data.id);
235 ComputeConstraintsForNode
131 ComputeConstraintsForNode(node_id, insertion_submaps,newly_finished_submap);
103 AddNode
local_slam_result_2d.cc 39 AddNode(std::make_shared<const mapping::TrajectoryNode::Data> 29 AddToPoseGraph
global_trajectory_builder.cc 68 auto node_id = pose_graph_->AddNode 52 AddSensorData
--->
global_trajectory_builder.cc 122 local_slam_result_data->AddToPoseGraph(trajectory_id_, pose_graph_);
118 虚函数重载AddLocalSlamResultData
trajectory_builder_interface.h 111 虚函数 AddLocalSlamResultData
local_slam_result_2d.cc 25 trajectory_builder->AddLocalSlamResultData
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标签：carographer,cc,trajectory,builder,id,2d,data,流程 来源： https://www.cnblogs.com/serser/p/11783349.html