cartographer源码分析(51)-mapping- submaps.h

最新推荐文章于 2025-10-17 20:05:45 发布

原创

最新推荐文章于 2025-10-17 20:05:45 发布 · 2.3k 阅读

1 ·

CC 4.0 BY-SA版权

本文深入探讨了Cartographer开源项目中mapping子模块的submaps.h源码，提供了相关资源链接，包括在GitHub上的源码注释版本，以及作者在多个平台发布的文章链接。

markdown文件可在https://github.com/learnmoreonce/SLAM 下载


文件: submaps.h


#ifndef CARTOGRAPHER_MAPPING_SUBMAPS_H_
#define CARTOGRAPHER_MAPPING_SUBMAPS_H_

#include <memory>
#include <vector>

#include "Eigen/Geometry"
#include "cartographer/common/math.h"
#include "cartographer/common/port.h"
#include "cartographer/mapping/id.h"
#include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping_2d/probability_grid.h"
#include "glog/logging.h"

namespace cartographer {
namespace mapping {


//求odds(p)的log对数
// Converts the given probability to log odds.
inline float Logit(float probability) {
  return std::log(probability / (1.f - probability));
}

const float kMaxLogOd