65 lines
2.5 KiB
C++
65 lines
2.5 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/timed_point_cloud_data.h"
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#include "cartographer/transform/proto/transform.pb.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::TimedPointCloudData ToProto(
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const TimedPointCloudData& timed_point_cloud_data) {
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proto::TimedPointCloudData proto;
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proto.set_timestamp(common::ToUniversal(timed_point_cloud_data.time));
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*proto.mutable_origin() = transform::ToProto(timed_point_cloud_data.origin);
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proto.mutable_point_data()->Reserve(timed_point_cloud_data.ranges.size());
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for (const TimedRangefinderPoint& range : timed_point_cloud_data.ranges) {
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*proto.add_point_data() = ToProto(range);
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}
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for (const float intensity : timed_point_cloud_data.intensities) {
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proto.add_intensities(intensity);
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}
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return proto;
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}
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TimedPointCloudData FromProto(const proto::TimedPointCloudData& proto) {
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CHECK(proto.intensities().size() == 0 ||
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proto.intensities().size() == proto.point_data().size());
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TimedPointCloud timed_point_cloud;
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if (proto.point_data().size() > 0) {
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timed_point_cloud.reserve(proto.point_data().size());
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for (const auto& timed_point_proto : proto.point_data()) {
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timed_point_cloud.push_back(FromProto(timed_point_proto));
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}
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} else {
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timed_point_cloud.reserve(proto.point_data_legacy().size());
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for (const auto& timed_point_proto : proto.point_data_legacy()) {
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const Eigen::Vector4f timed_point = transform::ToEigen(timed_point_proto);
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timed_point_cloud.push_back({timed_point.head<3>(), timed_point[3]});
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}
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}
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return TimedPointCloudData{common::FromUniversal(proto.timestamp()),
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transform::ToEigen(proto.origin()),
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timed_point_cloud,
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std::vector<float>(proto.intensities().begin(),
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proto.intensities().end())};
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}
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} // namespace sensor
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} // namespace cartographer
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