57 lines
1.7 KiB
C
57 lines
1.7 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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#ifndef CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_
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#define CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_
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#include "Eigen/Core"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/point_cloud.h"
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namespace cartographer {
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namespace sensor {
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struct TimedPointCloudData {
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common::Time time;
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Eigen::Vector3f origin;
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TimedPointCloud ranges;
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// 'intensities' has to be same size as 'ranges', or empty.
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std::vector<float> intensities;
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};
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struct TimedPointCloudOriginData {
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struct RangeMeasurement {
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TimedRangefinderPoint point_time;
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float intensity;
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size_t origin_index;
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};
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common::Time time;
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std::vector<Eigen::Vector3f> origins;
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std::vector<RangeMeasurement> ranges;
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};
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// Converts 'timed_point_cloud_data' to a proto::TimedPointCloudData.
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proto::TimedPointCloudData ToProto(
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const TimedPointCloudData& timed_point_cloud_data);
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// Converts 'proto' to TimedPointCloudData.
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TimedPointCloudData FromProto(const proto::TimedPointCloudData& proto);
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_
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