54 lines
1.8 KiB
C++
54 lines
1.8 KiB
C++
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/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/sensor/landmark_data.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace sensor {
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proto::LandmarkData ToProto(const LandmarkData& landmark_data) {
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proto::LandmarkData proto;
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proto.set_timestamp(common::ToUniversal(landmark_data.time));
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for (const auto& observation : landmark_data.landmark_observations) {
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auto* item = proto.add_landmark_observations();
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item->set_id(observation.id);
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*item->mutable_landmark_to_tracking_transform() =
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transform::ToProto(observation.landmark_to_tracking_transform);
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item->set_translation_weight(observation.translation_weight);
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item->set_rotation_weight(observation.rotation_weight);
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}
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return proto;
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}
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LandmarkData FromProto(const proto::LandmarkData& proto) {
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LandmarkData landmark_data;
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landmark_data.time = common::FromUniversal(proto.timestamp());
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for (const auto& item : proto.landmark_observations()) {
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landmark_data.landmark_observations.push_back({
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item.id(),
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transform::ToRigid3(item.landmark_to_tracking_transform()),
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item.translation_weight(),
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item.rotation_weight(),
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});
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}
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return landmark_data;
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}
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} // namespace sensor
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} // namespace cartographer
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