127 lines
4.6 KiB
C++
Executable File
127 lines
4.6 KiB
C++
Executable File
/*
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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_IO_SUBMAP_PAINTER_H_
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#define CARTOGRAPHER_IO_SUBMAP_PAINTER_H_
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#include "Eigen/Geometry"
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#include "cairo/cairo.h"
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#include "cartographer/io/image.h"
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#include "cartographer/io/proto_stream_deserializer.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "cartographer/mapping/value_conversion_tables.h"
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#include "cartographer/transform/rigid_transform.h"
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extern int c[4000000];
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extern int a[4000000];
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namespace cartographer {
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namespace io {
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struct PaintSubmapSlicesResult {
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PaintSubmapSlicesResult(::cartographer::io::UniqueCairoSurfacePtr surface,
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Eigen::Array2f origin)
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: surface(std::move(surface)), origin(origin) {}
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::cartographer::io::UniqueCairoSurfacePtr surface;
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// Top left pixel of 'surface' in map frame.
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Eigen::Array2f origin;
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};
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// 地图的完整信息, 栅格数据是Cairo格式的
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struct SubmapSlice {
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// 构造时使surface为指向nullptr
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SubmapSlice()
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: surface(::cartographer::io::MakeUniqueCairoSurfacePtr(nullptr)) {}
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// Texture data.
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int width;
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int height;
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int version;
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double resolution;
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::cartographer::transform::Rigid3d slice_pose;
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::cartographer::io::UniqueCairoSurfacePtr surface; // surface是图形库cairo的image画布
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// Pixel data used by 'surface'. Must outlive 'surface'.
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std::vector<uint32_t> cairo_data;
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std::vector<char> observer; //jzq 摄像头观测过的区域
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// Metadata.
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::cartographer::transform::Rigid3d pose;
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int metadata_version = -1;
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};
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//。。。解压要改 增加color 解压后的地图栅格数据
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struct SubmapTexture {
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struct Pixels {
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std::vector<char> intensity; // 地图栅格值
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std::vector<char> alpha; // 栅格的透明度
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std::vector<char> color; //。。。增加颜色值
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std::vector<char> observer; //jzq 摄像头观测过的区域
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};
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Pixels pixels;
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int width;
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int height;
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double resolution;
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::cartographer::transform::Rigid3d slice_pose;
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};
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// 压缩后的地图栅格数据
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struct SubmapTextures {
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int version;
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std::vector<SubmapTexture> textures;
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};
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PaintSubmapSlicesResult PaintSubmapSlices(
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const std::map<::cartographer::mapping::SubmapId, SubmapSlice>& submaps,
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double resolution);
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int* Slices(
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const std::map<::cartographer::mapping::SubmapId, SubmapSlice>& submaps,
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const double resolution);
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void FillSubmapSlice(
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const ::cartographer::transform::Rigid3d& global_submap_pose,
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const ::cartographer::mapping::proto::Submap& proto,
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SubmapSlice* const submap_slice,
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mapping::ValueConversionTables* conversion_tables);
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void DeserializeAndFillSubmapSlices(
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ProtoStreamDeserializer* deserializer,
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std::map<::cartographer::mapping::SubmapId, SubmapSlice>* submap_slices,
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mapping::ValueConversionTables* conversion_tables);
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// Unpacks cell data as provided by the backend into 'intensity' and 'alpha'.
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SubmapTexture::Pixels UnpackTextureData(const std::string& compressed_cells,
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int width, int height);
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// Draw a texture into a cairo surface. 'cairo_data' will store the pixel data
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// for the surface and must therefore outlive the use of the surface.
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UniqueCairoSurfacePtr DrawTexture(const std::vector<char>& intensity,
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const std::vector<char>& alpha,
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//。。。增加color传参
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const std::vector<char>& color,
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int width,
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int height,
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std::vector<uint32_t>* cairo_data);
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UniqueCairoSurfacePtr DrawTexture(const std::vector<char>& intensity,
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const std::vector<char>& alpha,
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int width,
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int height,
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std::vector<uint32_t>* cairo_data);
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_SUBMAP_PAINTER_H_
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