72 lines
2.3 KiB
C++
72 lines
2.3 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/point_cloud.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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PointCloud TransformPointCloud(const PointCloud& point_cloud,
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const transform::Rigid3f& transform) {
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PointCloud result;
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result.reserve(point_cloud.size());
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for (const Eigen::Vector3f& point : point_cloud) {
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result.emplace_back(transform * point);
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}
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return result;
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}
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TimedPointCloud TransformTimedPointCloud(const TimedPointCloud& point_cloud,
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const transform::Rigid3f& transform) {
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TimedPointCloud result;
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result.reserve(point_cloud.size());
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for (const Eigen::Vector4f& point : point_cloud) {
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Eigen::Vector4f result_point;
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result_point.head<3>() = transform * point.head<3>();
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result_point[3] = point[3];
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result.emplace_back(result_point);
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}
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return result;
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}
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PointCloud CropPointCloud(const PointCloud& point_cloud, const float min_z,
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const float max_z) {
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PointCloud cropped_point_cloud;
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for (const auto& point : point_cloud) {
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if (min_z <= point.z() && point.z() <= max_z) {
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cropped_point_cloud.push_back(point);
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}
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}
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return cropped_point_cloud;
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}
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TimedPointCloud CropTimedPointCloud(const TimedPointCloud& point_cloud,
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const float min_z, const float max_z) {
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TimedPointCloud cropped_point_cloud;
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for (const auto& point : point_cloud) {
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if (min_z <= point.z() && point.z() <= max_z) {
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cropped_point_cloud.push_back(point);
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}
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}
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return cropped_point_cloud;
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}
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} // namespace sensor
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} // namespace cartographer
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