Sematic-Cartographer/cartographer-master/cartographer/sensor/point_cloud.cc

/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer/sensor/point_cloud.h"

#include "cartographer/sensor/proto/sensor.pb.h"
#include "cartographer/transform/transform.h"

namespace cartographer {
namespace sensor {

PointCloud::PointCloud() {}
PointCloud::PointCloud(std::vector<PointCloud::PointType> points)
    : points_(std::move(points)) {}

// 构造时先拷贝, 再进行移动
PointCloud::PointCloud(std::vector<PointType> points,
                       std::vector<float> intensities)
    : points_(std::move(points)), intensities_(std::move(intensities)) {
  if (!intensities_.empty()) {
    CHECK_EQ(points_.size(), intensities_.size());
  }
}

size_t PointCloud::size() const { return points_.size(); }
bool PointCloud::empty() const { return points_.empty(); }

//....返回vector的引用 后面这个const代表什么 代表这个函数不能修改任何数据成员
const std::vector<PointCloud::PointType>& PointCloud::points() const {
  return points_;
}

 std::vector<PointCloud::PointType>& PointCloud::pointreturn()  {
  return points_;
}


// 返回vector的引用
const std::vector<float>& PointCloud::intensities() const {
  return intensities_;
}
const PointCloud::PointType& PointCloud::operator[](const size_t index) const {
  return points_[index];
}

PointCloud::ConstIterator PointCloud::begin() const { return points_.begin(); }
PointCloud::ConstIterator PointCloud::end() const { return points_.end(); }

//。。。 void PointCloud::push_back(PointCloud::PointType value) {
//   points_.push_back(std::move(value));
// }
void PointCloud::push_back(PointCloud::PointType value,float insitity) {
  points_.push_back(std::move(value));
  intensities_.push_back(std::move(insitity));
}
void PointCloud::push_back(PointCloud::PointType value) {
  points_.push_back(std::move(value));
 
}

/**
 * @brief 对输入的点云做坐标变换
 * 
 * @param[in] point_cloud 输入的点云
 * @param[in] transform 坐标变换
 * @return PointCloud 变换之后的点云
 */
PointCloud TransformPointCloud(const PointCloud& point_cloud,
                               const transform::Rigid3f& transform) {
  std::vector<RangefinderPoint> points;
  points.reserve(point_cloud.size());
  for (const RangefinderPoint& point : point_cloud.points()) {
    points.emplace_back(transform * point);
  }
  return PointCloud(points, point_cloud.intensities());
}

PointCloud TransformPointCloudNew( PointCloud& point_cloud,
                               const transform::Rigid3f& transform) {
  std::vector<RangefinderPoint> points;
  points.reserve(point_cloud.size());
  for (const RangefinderPoint& point : point_cloud.points()) {
    points.emplace_back(transform * point);
  }
  return PointCloud(points, point_cloud.intensities());
}


/**
 * @brief 返回坐标变换后的点云
 * 
 * @param[in] point_cloud 点云数据
 * @param[in] transform 旋转变换矩阵
 * @return TimedPointCloud 返回坐标变换后的点云
 */
//...
PointCloudWithIntensities TransformTimedPointCloud(//。。。 const TimedPointCloud& point_cloud,
                                         const PointCloudWithIntensities& point_cloud,
                                         const transform::Rigid3f& transform) {
  //。。。 TimedPointCloud result;
  PointCloudWithIntensities result;
  //。。。 result.reserve(point_cloud.size());
  result.points.reserve(point_cloud.points.size());
  result.intensities.reserve(point_cloud.intensities.size());
   result.intensities=point_cloud.intensities;
  //。。。for (const TimedRangefinderPoint& point : point_cloud) {
  //。。。  result.push_back(transform * point);
  for (const TimedRangefinderPoint& point : point_cloud.points) {
    result.points.push_back(transform * point);
  }
  return result;
}
TimedPointCloud TransformTimedPointCloud(
                                         const TimedPointCloud& point_cloud,
                                         const transform::Rigid3f& transform) {
  TimedPointCloud result;
  result.reserve(point_cloud.size());
  for (const TimedRangefinderPoint& point : point_cloud) {
    result.push_back(transform * point);
  }
  return result;
}
/**
 * @brief 对输入的点云进行滤波, 保留数据点的z坐标处于min_z与max_z之间的点
 * 
 * @param[in] point_cloud 输入的点云
 * @param[in] min_z 最小的z
 * @param[in] max_z 最大的z
 * @return PointCloud 裁剪之后的点云 拷贝
 */
PointCloud CropPointCloud(const PointCloud& point_cloud, const float min_z,
                          const float max_z) {
  // 将lamda表达式传入copy_if, 当lamda表达式返回true时才进行复制, 
  return point_cloud.copy_if([min_z, max_z](const RangefinderPoint& point) {
    return min_z <= point.position.z() && point.position.z() <= max_z;
  });
}

}  // namespace sensor
}  // namespace cartographer