52 lines
1.9 KiB
C++
52 lines
1.9 KiB
C++
/*
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* Copyright 2017 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/timed_point_cloud_data.h"
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#include "cartographer/transform/proto/transform.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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proto::TimedPointCloudData ToProto(
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const TimedPointCloudData& timed_point_cloud_data) {
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proto::TimedPointCloudData proto;
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proto.set_timestamp(common::ToUniversal(timed_point_cloud_data.time));
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*proto.mutable_origin() = transform::ToProto(timed_point_cloud_data.origin);
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proto.mutable_point_data()->Reserve(timed_point_cloud_data.ranges.size());
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for (const Eigen::Vector4f& range : timed_point_cloud_data.ranges) {
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*proto.add_point_data() = transform::ToProto(range);
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}
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return proto;
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}
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TimedPointCloudData FromProto(const proto::TimedPointCloudData& proto) {
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TimedPointCloud timed_point_cloud;
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timed_point_cloud.reserve(proto.point_data().size());
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std::transform(
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proto.point_data().begin(), proto.point_data().end(),
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std::back_inserter(timed_point_cloud),
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static_cast<Eigen::Vector4f (*)(const transform::proto::Vector4f&)>(
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transform::ToEigen));
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return TimedPointCloudData{common::FromUniversal(proto.timestamp()),
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transform::ToEigen(proto.origin()),
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timed_point_cloud};
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}
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} // namespace sensor
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} // namespace cartographer
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