73 lines
2.8 KiB
C++
Executable File
73 lines
2.8 KiB
C++
Executable File
/*
|
|
* Copyright 2017 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/mapping/trajectory_node.h"
|
|
|
|
#include "Eigen/Core"
|
|
#include "cartographer/common/time.h"
|
|
#include "cartographer/sensor/compressed_point_cloud.h"
|
|
#include "cartographer/transform/transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping {
|
|
|
|
proto::TrajectoryNodeData ToProto(const TrajectoryNode::Data& constant_data) {
|
|
proto::TrajectoryNodeData proto;
|
|
proto.set_timestamp(common::ToUniversal(constant_data.time));
|
|
*proto.mutable_gravity_alignment() =
|
|
transform::ToProto(constant_data.gravity_alignment);
|
|
*proto.mutable_filtered_gravity_aligned_point_cloud() =
|
|
sensor::CompressedPointCloud(
|
|
constant_data.filtered_gravity_aligned_point_cloud)
|
|
.ToProto();
|
|
*proto.mutable_high_resolution_point_cloud() =
|
|
sensor::CompressedPointCloud(constant_data.high_resolution_point_cloud)
|
|
.ToProto();
|
|
*proto.mutable_low_resolution_point_cloud() =
|
|
sensor::CompressedPointCloud(constant_data.low_resolution_point_cloud)
|
|
.ToProto();
|
|
for (Eigen::VectorXf::Index i = 0;
|
|
i != constant_data.rotational_scan_matcher_histogram.size(); ++i) {
|
|
proto.add_rotational_scan_matcher_histogram(
|
|
constant_data.rotational_scan_matcher_histogram(i));
|
|
}
|
|
*proto.mutable_local_pose() = transform::ToProto(constant_data.local_pose);
|
|
return proto;
|
|
}
|
|
|
|
TrajectoryNode::Data FromProto(const proto::TrajectoryNodeData& proto) {
|
|
Eigen::VectorXf rotational_scan_matcher_histogram(
|
|
proto.rotational_scan_matcher_histogram_size());
|
|
for (int i = 0; i != proto.rotational_scan_matcher_histogram_size(); ++i) {
|
|
rotational_scan_matcher_histogram(i) =
|
|
proto.rotational_scan_matcher_histogram(i);
|
|
}
|
|
return TrajectoryNode::Data{
|
|
common::FromUniversal(proto.timestamp()),
|
|
transform::ToEigen(proto.gravity_alignment()),
|
|
sensor::CompressedPointCloud(proto.filtered_gravity_aligned_point_cloud())
|
|
.Decompress(),
|
|
sensor::CompressedPointCloud(proto.high_resolution_point_cloud())
|
|
.Decompress(),
|
|
sensor::CompressedPointCloud(proto.low_resolution_point_cloud())
|
|
.Decompress(),
|
|
rotational_scan_matcher_histogram,
|
|
transform::ToRigid3(proto.local_pose())};
|
|
}
|
|
|
|
} // namespace mapping
|
|
} // namespace cartographer
|