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detect_floors.cc分析

 3 years ago
source link: https://charon-cheung.github.io/2022/04/21/%E6%BF%80%E5%85%89SLAM/Cartographer/%E6%BA%90%E7%A0%81%E8%A7%A3%E8%AF%BB/detect_floors.cc%E5%88%86%E6%9E%90/
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detect_floors.cc分析 | 沉默杀手

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detect_floors.cc分析
2022-04-21|激光SLAMCartographer源码解读|
Word count: 107|Reading time: 1 min

detect_floors.h定义了关于3D扫描楼层的数据结构。

struct Timespan {
	common::Time start;
	common::Time end;
};
Timespan表征扫描的时间范围。

struct Floor {
	std::vector< Timespan> timespans;
	double z; //z轴的中值
};

一个楼层对应多个扫描timespan：有可能重复的扫描多次，但只有一个高度z。

std::vector DetectFloors(const proto::Trajectory& trajectory); 使用启发式搜索寻找building的不同楼层的z值。


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