97 lines
3.0 KiB
C++
97 lines
3.0 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_COMPRESSED_POINT_CLOUD_H_
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#define CARTOGRAPHER_SENSOR_COMPRESSED_POINT_CLOUD_H_
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#include <iterator>
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#include <vector>
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#include "Eigen/Core"
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#include "cartographer/common/port.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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// A compressed representation of a point cloud consisting of a collection of
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// points (Vector3f) without time information.
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// Internally, points are grouped by blocks. Each block encodes a bit of meta
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// data (number of points in block, coordinates of the block) and encodes each
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// point with a fixed bit rate in relation to the block.
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class CompressedPointCloud {
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public:
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class ConstIterator;
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CompressedPointCloud() : num_points_(0) {}
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explicit CompressedPointCloud(const PointCloud& point_cloud);
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explicit CompressedPointCloud(const proto::CompressedPointCloud& proto);
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// Returns decompressed point cloud.
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PointCloud Decompress() const;
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bool empty() const;
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size_t size() const;
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ConstIterator begin() const;
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ConstIterator end() const;
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bool operator==(const CompressedPointCloud& right_hand_container) const;
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proto::CompressedPointCloud ToProto() const;
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private:
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std::vector<int32> point_data_;
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size_t num_points_;
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};
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// Forward iterator for compressed point clouds.
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class CompressedPointCloud::ConstIterator {
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public:
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using iterator_category = std::forward_iterator_tag;
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using value_type = Eigen::Vector3f;
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using difference_type = int64;
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using pointer = const Eigen::Vector3f*;
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using reference = const Eigen::Vector3f&;
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// Creates begin iterator.
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explicit ConstIterator(const CompressedPointCloud* compressed_point_cloud);
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// Creates end iterator.
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static ConstIterator EndIterator(
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const CompressedPointCloud* compressed_point_cloud);
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Eigen::Vector3f operator*() const;
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ConstIterator& operator++();
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bool operator!=(const ConstIterator& it) const;
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private:
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// Reads next point from buffer. Also handles reading the meta data of the
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// next block, if the current block is depleted.
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void ReadNextPoint();
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const CompressedPointCloud* compressed_point_cloud_;
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size_t remaining_points_;
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int32 remaining_points_in_current_block_;
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Eigen::Vector3f current_point_;
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Eigen::Vector3i current_block_coordinates_;
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std::vector<int32>::const_iterator input_;
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};
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_COMPRESSED_POINT_CLOUD_H_
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