73 lines
2.4 KiB
C++
73 lines
2.4 KiB
C++
/*
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* Copyright 2016 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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#include "cartographer/sensor/range_data.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace sensor {
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RangeData TransformRangeData(const RangeData& range_data,
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const transform::Rigid3f& transform) {
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return RangeData{
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transform * range_data.origin,
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TransformPointCloud(range_data.returns, transform),
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TransformPointCloud(range_data.misses, transform),
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};
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}
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RangeData CropRangeData(const RangeData& range_data, const float min_z,
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const float max_z) {
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return RangeData{range_data.origin, Crop(range_data.returns, min_z, max_z),
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Crop(range_data.misses, min_z, max_z)};
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}
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proto::CompressedRangeData ToProto(
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const CompressedRangeData& compressed_range_data) {
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proto::CompressedRangeData proto;
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*proto.mutable_origin() = transform::ToProto(compressed_range_data.origin);
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*proto.mutable_returns() = compressed_range_data.returns.ToProto();
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*proto.mutable_misses() = compressed_range_data.misses.ToProto();
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return proto;
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}
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CompressedRangeData FromProto(const proto::CompressedRangeData& proto) {
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return CompressedRangeData{
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transform::ToEigen(proto.origin()),
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CompressedPointCloud(proto.returns()),
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CompressedPointCloud(proto.misses()),
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};
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}
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CompressedRangeData Compress(const RangeData& range_data) {
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return CompressedRangeData{
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range_data.origin,
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CompressedPointCloud(range_data.returns),
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CompressedPointCloud(range_data.misses),
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};
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}
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RangeData Decompress(const CompressedRangeData& compressed_range_data) {
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return RangeData{compressed_range_data.origin,
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compressed_range_data.returns.Decompress(),
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compressed_range_data.misses.Decompress()};
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}
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} // namespace sensor
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} // namespace cartographer
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