83 lines
2.9 KiB
C++
83 lines
2.9 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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#ifndef CARTOGRAPHER_SENSOR_RANGE_DATA_H_
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#define CARTOGRAPHER_SENSOR_RANGE_DATA_H_
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#include "cartographer/common/port.h"
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#include "cartographer/sensor/compressed_point_cloud.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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namespace cartographer {
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namespace sensor {
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// Rays begin at 'origin'. 'returns' are the points where laser returns were
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// detected. 'misses' are points in the direction of rays for which no return
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// was detected, and were inserted at a configured distance. It is assumed that
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// between the 'origin' and 'misses' is free space.
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struct RangeData {
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Eigen::Vector3f origin;
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PointCloud returns;
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PointCloud misses;
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// Reflectivity value of returns.
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std::vector<uint8> reflectivities;
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};
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// Builds a PointCloud of returns from 'proto', dropping any beams with ranges
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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 'range_data' to a proto::RangeData.
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proto::RangeData ToProto(const RangeData& range_data);
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// Converts 'proto' to a RangeData.
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RangeData FromProto(const proto::RangeData& proto);
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RangeData TransformRangeData(const RangeData& range_data,
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const transform::Rigid3f& transform);
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// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
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RangeData CropRangeData(const RangeData& range_data, float min_z, float max_z);
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// Like RangeData but with compressed point clouds. The point order changes
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// when converting from RangeData.
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struct CompressedRangeData {
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Eigen::Vector3f origin;
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CompressedPointCloud returns;
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CompressedPointCloud misses;
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// Reflectivity value of returns.
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std::vector<uint8> reflectivities;
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};
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CompressedRangeData Compress(const RangeData& range_data);
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RangeData Decompress(const CompressedRangeData& compressed_range_Data);
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_RANGE_DATA_H_
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