Extract intensities for 2D lasers on conversion. (#167)
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4e9c3d69b5
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628b9da6d2
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@ -38,6 +38,11 @@ std::vector<uint8> ReorderReflectivities(
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} // namespace
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PointCloud ToPointCloud(const proto::LaserScan& proto) {
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return ToPointCloudWithIntensities(proto).points;
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}
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PointCloudWithIntensities ToPointCloudWithIntensities(
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const proto::LaserScan& proto) {
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CHECK_GE(proto.range_min(), 0.f);
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CHECK_GE(proto.range_max(), proto.range_min());
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if (proto.angle_increment() > 0.f) {
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@ -45,15 +50,21 @@ PointCloud ToPointCloud(const proto::LaserScan& proto) {
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} else {
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CHECK_GT(proto.angle_min(), proto.angle_max());
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}
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PointCloud point_cloud;
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PointCloudWithIntensities point_cloud;
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float angle = proto.angle_min();
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for (const auto& range : proto.range()) {
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for (int i = 0; i < proto.range_size(); ++i) {
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const auto& range = proto.range(i);
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if (range.value_size() > 0) {
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const float first_echo = range.value(0);
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if (proto.range_min() <= first_echo && first_echo <= proto.range_max()) {
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const Eigen::AngleAxisf rotation(angle, Eigen::Vector3f::UnitZ());
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point_cloud.push_back(rotation *
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point_cloud.points.push_back(rotation *
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(first_echo * Eigen::Vector3f::UnitX()));
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if (proto.intensity_size() > 0) {
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point_cloud.intensities.push_back(proto.intensity(i).value(0));
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} else {
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point_cloud.intensities.push_back(0.f);
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}
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}
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}
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angle += proto.angle_increment();
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@ -42,6 +42,13 @@ struct LaserFan {
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// outside the valid range described by 'proto'.
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PointCloud ToPointCloud(const proto::LaserScan& proto);
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// Like above, but also extracts intensities of ouf the laser scan. The
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// intensities of the laser are device specific and therefore require
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// normalization to be comparable. In case the 'proto' does not contain
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// intensities, this will return all 0. for the intensities.
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PointCloudWithIntensities ToPointCloudWithIntensities(
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const proto::LaserScan& proto);
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// Converts 'laser_fan' to a proto::LaserFan.
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proto::LaserFan ToProto(const LaserFan& laser_fan);
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@ -30,6 +30,11 @@ namespace sensor {
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typedef std::vector<Eigen::Vector3f> PointCloud;
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struct PointCloudWithIntensities {
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PointCloud points;
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std::vector<float> intensities;
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};
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// Transforms 'point_cloud' according to 'transform'.
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PointCloud TransformPointCloud(const PointCloud& point_cloud,
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const transform::Rigid3f& transform);
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