102 lines
3.2 KiB
C++
102 lines
3.2 KiB
C++
/*
|
|
* Copyright 2017 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_IO_SUBMAP_PAINTER_H_
|
|
#define CARTOGRAPHER_IO_SUBMAP_PAINTER_H_
|
|
|
|
#include "Eigen/Geometry"
|
|
#include "cairo/cairo.h"
|
|
#include "cartographer/io/image.h"
|
|
#include "cartographer/mapping/id.h"
|
|
#include "cartographer/mapping/proto/submap.pb.h"
|
|
#include "cartographer/mapping_2d/submaps.h"
|
|
#include "cartographer/mapping_3d/submaps.h"
|
|
#include "cartographer/transform/rigid_transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace io {
|
|
|
|
struct PaintSubmapSlicesResult {
|
|
PaintSubmapSlicesResult(::cartographer::io::UniqueCairoSurfacePtr surface,
|
|
Eigen::Array2f origin)
|
|
: surface(std::move(surface)), origin(origin) {}
|
|
::cartographer::io::UniqueCairoSurfacePtr surface;
|
|
|
|
// Top left pixel of 'surface' in map frame.
|
|
Eigen::Array2f origin;
|
|
};
|
|
|
|
struct SubmapSlice {
|
|
SubmapSlice()
|
|
: surface(::cartographer::io::MakeUniqueCairoSurfacePtr(nullptr)) {}
|
|
|
|
// Texture data.
|
|
int width;
|
|
int height;
|
|
int version;
|
|
double resolution;
|
|
::cartographer::transform::Rigid3d slice_pose;
|
|
::cartographer::io::UniqueCairoSurfacePtr surface;
|
|
// Pixel data used by 'surface'. Must outlive 'surface'.
|
|
std::vector<uint32_t> cairo_data;
|
|
|
|
// Metadata.
|
|
::cartographer::transform::Rigid3d pose;
|
|
int metadata_version = -1;
|
|
};
|
|
|
|
struct SubmapTexture {
|
|
struct Pixels {
|
|
std::vector<char> intensity;
|
|
std::vector<char> alpha;
|
|
};
|
|
Pixels pixels;
|
|
int width;
|
|
int height;
|
|
double resolution;
|
|
::cartographer::transform::Rigid3d slice_pose;
|
|
};
|
|
|
|
struct SubmapTextures {
|
|
int version;
|
|
std::vector<SubmapTexture> textures;
|
|
};
|
|
|
|
PaintSubmapSlicesResult PaintSubmapSlices(
|
|
const std::map<::cartographer::mapping::SubmapId, SubmapSlice>& submaps,
|
|
double resolution);
|
|
|
|
void FillSubmapSlice(
|
|
const ::cartographer::transform::Rigid3d& global_submap_pose,
|
|
const ::cartographer::mapping::proto::Submap& proto,
|
|
SubmapSlice* const submap_slice);
|
|
|
|
// Unpacks cell data as provided by the backend into 'intensity' and 'alpha'.
|
|
SubmapTexture::Pixels UnpackTextureData(const std::string& compressed_cells,
|
|
int width, int height);
|
|
|
|
// Draw a texture into a cairo surface. 'cairo_data' will store the pixel data
|
|
// for the surface and must therefore outlive the use of the surface.
|
|
UniqueCairoSurfacePtr DrawTexture(const std::vector<char>& intensity,
|
|
const std::vector<char>& alpha, int width,
|
|
int height,
|
|
std::vector<uint32_t>* cairo_data);
|
|
|
|
} // namespace io
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_IO_SUBMAP_PAINTER_H_
|