67 lines
2.4 KiB
C++
67 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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#ifndef CARTOGRAPHER_SENSOR_POINT_CLOUD_H_
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#define CARTOGRAPHER_SENSOR_POINT_CLOUD_H_
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#include <vector>
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#include "Eigen/Core"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace sensor {
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// Stores 3D positions of points.
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// For 2D points, the third entry is 0.f.
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typedef std::vector<Eigen::Vector3f> PointCloud;
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// Stores 3D positions of points with their measurement time in the fourth
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// entry. Time is in seconds, increasing and relative to the moment when
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// 'points[0]' was acquired. If timing is not available, all fourth entries
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// are 0.f. For 2D points, the third entry is 0.f and the fourth entry is time.
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typedef std::vector<Eigen::Vector4f> TimedPointCloud;
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struct PointCloudWithIntensities {
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TimedPointCloud points;
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std::vector<float> intensities;
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};
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// Transforms 'point_cloud' according to 'transform'.
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PointCloud TransformPointCloud(const PointCloud& point_cloud,
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const transform::Rigid3f& transform);
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// Transforms 'point_cloud' according to 'transform'.
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TimedPointCloud TransformTimedPointCloud(const TimedPointCloud& point_cloud,
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const transform::Rigid3f& transform);
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// Returns a new point cloud without points that fall outside the region defined
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// by 'min_z' and 'max_z'.
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PointCloud CropPointCloud(const PointCloud& point_cloud, float min_z,
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float max_z);
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// Returns a new point cloud without points that fall outside the region defined
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// by 'min_z' and 'max_z'.
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TimedPointCloud CropTimedPointCloud(const TimedPointCloud& point_cloud,
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float min_z, float max_z);
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_POINT_CLOUD_H_
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