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Adds 'offset_seconds' to PointCloudWithIntensities. (#571) 

This is preparing using per-point-unwarping in the `assets_writer` in `cartographer_ros`.

Related to googlecartographer/cartographer_ros#521.

PAIR=@wohe
master
Holger Rapp 2017-10-06 13:21:02 +02:00 committed by GitHub
parent 2862e12506
commit 6708930bbf
3 changed files with 9 additions and 4 deletions
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6
cartographer/io/points_batch.h
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@ -36,8 +36,8 @@ struct PointsBatch {
trajectory_id = 0; trajectory_id = 0;
} }
// Time at which this batch has been acquired. // Time at which the first point of this batch has been acquired.
common::Time time; common::Time start_time;
// Origin of the data, i.e. the location of the sensor in the world at // Origin of the data, i.e. the location of the sensor in the world at
// 'time'. // 'time'.
@ -50,7 +50,7 @@ struct PointsBatch {
// Trajectory ID that produced this point. // Trajectory ID that produced this point.
int trajectory_id; int trajectory_id;
// Geometry of the points in a metric frame. // Geometry of the points in the map frame.
std::vector<Eigen::Vector3f> points; std::vector<Eigen::Vector3f> points;
// Intensities are optional and may be unspecified. The meaning of these // Intensities are optional and may be unspecified. The meaning of these

2
cartographer/io/xray_points_processor.cc
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@ -216,7 +216,7 @@ void XRayPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
Insert(*batch, &aggregations_[0]); Insert(*batch, &aggregations_[0]);
} else { } else {
for (size_t i = 0; i < floors_.size(); ++i) { for (size_t i = 0; i < floors_.size(); ++i) {
if (!ContainedIn(batch->time, floors_[i].timespans)) { if (!ContainedIn(batch->start_time, floors_[i].timespans)) {
continue; continue;
} }
Insert(*batch, &aggregations_[i]); Insert(*batch, &aggregations_[i]);

5
cartographer/sensor/point_cloud.h
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@ -32,6 +32,11 @@ typedef std::vector<Eigen::Vector3f> PointCloud;
struct PointCloudWithIntensities { struct PointCloudWithIntensities {
PointCloud points; PointCloud points;
std::vector<float> intensities; std::vector<float> intensities;
// For each item in 'points', contains the time delta of when it was acquired
// after points[0], i.e. the first entry is always 0.f. If timing
// information is not available all entries will be 0.f.
std::vector<float> offset_seconds;
}; };
// Transforms 'point_cloud' according to 'transform'. // Transforms 'point_cloud' according to 'transform'.