101 lines
3.0 KiB
C++
101 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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#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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namespace {
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template <typename PointCloudType, typename TransformType>
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PointCloudType Transform(const PointCloudType& point_cloud,
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const TransformType& transform) {
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PointCloudType result;
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result.reserve(point_cloud.size());
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for (const auto& 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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} // namespace
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PointCloud TransformPointCloud(const PointCloud& point_cloud,
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const transform::Rigid3f& transform) {
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return Transform(point_cloud, transform);
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}
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PointCloud2D TransformPointCloud2D(const PointCloud2D& point_cloud_2d,
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const transform::Rigid2f& transform) {
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return Transform(point_cloud_2d, transform);
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}
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PointCloud ToPointCloud(const PointCloud2D& point_cloud_2d) {
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sensor::PointCloud point_cloud;
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point_cloud.reserve(point_cloud_2d.size());
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for (const auto& point : point_cloud_2d) {
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point_cloud.emplace_back(point.x(), point.y(), 0.f);
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}
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return point_cloud;
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}
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PointCloud2D ProjectToPointCloud2D(const PointCloud& point_cloud) {
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sensor::PointCloud2D point_cloud_2d;
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point_cloud_2d.reserve(point_cloud.size());
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for (const auto& point : point_cloud) {
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point_cloud_2d.emplace_back(point.x(), point.y());
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}
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return point_cloud_2d;
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}
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PointCloud Crop(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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proto::PointCloud ToProto(const PointCloud& point_cloud) {
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proto::PointCloud proto;
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for (const auto& point : point_cloud) {
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proto.add_x(point.x());
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proto.add_y(point.y());
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proto.add_z(point.z());
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}
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return proto;
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}
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PointCloud ToPointCloud(const proto::PointCloud& proto) {
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PointCloud point_cloud;
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const int size = std::min({proto.x_size(), proto.y_size(), proto.z_size()});
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point_cloud.reserve(size);
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for (int i = 0; i != size; ++i) {
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point_cloud.emplace_back(proto.x(i), proto.y(i), proto.z(i));
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}
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return point_cloud;
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}
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} // namespace sensor
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} // namespace cartographer
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