我试图想出一种使用 MRPT 运行图形 slam 应用程序的“最小”方式。传感器数据(LaserScan / Odometry)将由类似于 ROS 的自定义中间件提供。在广泛阅读文档和源代码(MRPT 和 ROS 桥)之后,我想出了以下代码片段:
std::string config_file = "../../../laser_odometry.ini";
std::string rawlog_fname = "";
std::string fname_GT = "";
auto node_reg = mrpt::graphslam::deciders::CICPCriteriaNRD<mrpt::graphs::CNetworkOfPoses2DInf>{};
auto edge_reg = mrpt::graphslam::deciders::CICPCriteriaERD<mrpt::graphs::CNetworkOfPoses2DInf>{};
auto optimizer = mrpt::graphslam::optimizers::CLevMarqGSO<mrpt::graphs::CNetworkOfPoses2DInf>{};
auto win3d = mrpt::gui::CDisplayWindow3D{"Slam", 800, 600};
auto win_observer = mrpt::graphslam::CWindowObserver{};
auto win_manager = mrpt::graphslam::CWindowManager{&win3d, &win_observer};
auto engine = mrpt::graphslam::CGraphSlamEngine<mrpt::graphs::CNetworkOfPoses2DInf>{
config_file, rawlog_fname, fname_GT, &win_manager, &node_reg, &edge_reg, &optimizer};
for (size_t measurement_count = 0;;) {
// grab laser scan from the network, then fill it (hardcoded values for now), e.g:
auto scan_ptr = mrpt::obs::CObservation2DRangeScan::Create();
scan_ptr->timestamp = std::chrono::system_clock::now().time_since_epoch().count();
scan_ptr->rightToLeft = true;
scan_ptr->sensorLabel = "";
scan_ptr->aperture = 3.14; // rad (max-min)
scan_ptr->maxRange = 3.0; // m
scan_ptr->sensorPose = mrpt::poses::CPose3D{};
scan_ptr->resizeScan(30);
for (int i = 0; i < 30; ++i) {
scan_ptr->setScanRange(i, 0.5);
scan_ptr->setScanRangeValidity(i, true);
}
{ // Send LaserScan measurement to the slam engine
auto obs_ptr = std::dynamic_pointer_cast<mrpt::obs::CObservation>(scan_ptr);
engine.execGraphSlamStep(obs_ptr, measurement_count);
++measurement_count;
}
// grab odometry from the network, then fill it (hardcoded values for now), e.g:
auto odometry_ptr = mrpt::obs::CObservationOdometry::Create();
odometry_ptr->timestamp = std::chrono::system_clock::now().time_since_epoch().count();
odometry_ptr->hasVelocities = false;
odometry_ptr->odometry.x(0);
odometry_ptr->odometry.y(0);
odometry_ptr->odometry.phi(0);
{ // Send Odometry measurement to the slam engine
auto obs_ptr = std::dynamic_pointer_cast<mrpt::obs::CObservation>(odometry_ptr);
engine.execGraphSlamStep(obs_ptr, measurement_count);
++measurement_count;
}
// Get pose estimation from the engine
auto pose = engine.getCurrentRobotPosEstimation();
}
我在这里的方向正确吗?我错过了什么?