CartographerAdapter.cpp File Reference

#include "CartographerAdapter.h"
#include <algorithm>
#include <cmath>
#include <cstdlib>
#include <ctime>
#include <filesystem>
#include <functional>
#include <iterator>
#include <memory>
#include <mutex>
#include <optional>
#include <stdexcept>
#include <string>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <IceUtil/Time.h>
#include <pcl/common/transforms.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/core/mat.hpp>
#include <opencv2/imgcodecs.hpp>
#include <SimoxUtility/algorithm/string/string_tools.h>
#include <SimoxUtility/json/json.hpp>
#include <SimoxUtility/math.h>
#include "ArmarXCore/util/CPPUtility/trace.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/algorithm.h>
#include <armarx/localization_and_mapping/cartographer_adapter/interfaces.h>
#include <cartographer/common/configuration_file_resolver.h>
#include <cartographer/common/time.h>
#include <cartographer/io/file_writer.h>
#include <cartographer/io/points_processor_pipeline_builder.h>
#include <cartographer/io/proto_stream.h>
#include <cartographer/mapping/2d/grid_2d.h>
#include <cartographer/mapping/2d/probability_grid.h>
#include <cartographer/mapping/2d/submap_2d.h>
#include <cartographer/mapping/internal/2d/tsdf_2d.h>
#include <cartographer/mapping/map_builder.h>
#include <cartographer/mapping/map_builder_interface.h>
#include <cartographer/mapping/pose_graph_interface.h>
#include <cartographer/mapping/submaps.h>
#include <cartographer/mapping/trajectory_builder_interface.h>
#include <cartographer/mapping/trajectory_node.h>
#include <cartographer/sensor/point_cloud.h>
#include <cartographer/sensor/rangefinder_point.h>
#include <cartographer/transform/rigid_transform.h>
#include <cartographer/transform/transform.h>
#include "ApproximateTimeQueue.h"
#include "ArVizDrawer.h"
#include "grid_conversion.h"
#include "types.h"
#include "util/cartographer_utils.h"
#include "util/eigen_conversions.h"
#include "util/laser_scanner_conversion.h"
#include "util/pcl_conversions.h"

Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.
namespace	armarx::localization_and_mapping
namespace	armarx::localization_and_mapping::cartographer_adapter
	This file is part of ArmarX.

Functions
bool	storeDefaultRegistrationFile (const fs::path &jsonFile)
std::string	timestamp ()

Variables
constexpr int	SCALE_M_TO_MM = 1000

Function Documentation

timestamp()

std::string timestamp

(

)

Variable Documentation

SCALE_M_TO_MM

int SCALE_M_TO_MM = 1000

constexpr