107 lines
3.5 KiB
C++
107 lines
3.5 KiB
C++
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/*
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* Copyright 2016 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/range_data.h"
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#include "cartographer/sensor/proto/sensor.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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RangeData TransformRangeData(const RangeData& range_data,
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const transform::Rigid3f& transform) {
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return RangeData{
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transform * range_data.origin,
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TransformPointCloud(range_data.returns, transform),
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TransformPointCloud(range_data.misses, transform),
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};
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}
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RangeData TransformRangeDataNew( RangeData& range_data,
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const transform::Rigid3f& transform) {
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return RangeData{
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transform * range_data.origin,
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TransformPointCloudNew(range_data.returns, transform),
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TransformPointCloudNew(range_data.misses, transform),
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};
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}
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RangeData CropRangeData(const RangeData& range_data, const float min_z,
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const float max_z) {
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return RangeData{range_data.origin,
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CropPointCloud(range_data.returns, min_z, max_z),
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CropPointCloud(range_data.misses, min_z, max_z)};
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}
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RangeData CropRangeDataNew(RangeData& range_data, float min_z,
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float max_z) {
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return RangeData{range_data.origin,
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CropPointCloud(range_data.returns, min_z, max_z),
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CropPointCloud(range_data.misses, min_z, max_z)};
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}
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proto::RangeData ToProto(const RangeData& range_data) {
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proto::RangeData proto;
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*proto.mutable_origin() = transform::ToProto(range_data.origin);
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proto.mutable_returns()->Reserve(range_data.returns.size());
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for (const RangefinderPoint& point : range_data.returns) {
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*proto.add_returns() = ToProto(point);
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}
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proto.mutable_misses()->Reserve(range_data.misses.size());
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for (const RangefinderPoint& point : range_data.misses) {
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*proto.add_misses() = ToProto(point);
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}
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return proto;
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}
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RangeData FromProto(const proto::RangeData& proto) {
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std::vector<RangefinderPoint> returns;
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if (proto.returns_size() > 0) {
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returns.reserve(proto.returns().size());
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for (const auto& point_proto : proto.returns()) {
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returns.push_back(FromProto(point_proto));
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}
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} else {
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returns.reserve(proto.returns_legacy().size());
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for (const auto& point_proto : proto.returns_legacy()) {
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returns.push_back({transform::ToEigen(point_proto)});
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}
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}
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std::vector<RangefinderPoint> misses;
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if (proto.misses_size() > 0) {
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misses.reserve(proto.misses().size());
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for (const auto& point_proto : proto.misses()) {
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misses.push_back(FromProto(point_proto));
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}
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} else {
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misses.reserve(proto.misses_legacy().size());
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for (const auto& point_proto : proto.misses_legacy()) {
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misses.push_back({transform::ToEigen(point_proto)});
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}
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}
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return RangeData{transform::ToEigen(proto.origin()), PointCloud(returns),
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PointCloud(misses)};
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}
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} // namespace sensor
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} // namespace cartographer
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