90 lines
3.3 KiB
C++
90 lines
3.3 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/range_data.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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RangeData TransformRangeData(const RangeData& range_data,
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const transform::Rigid3f& transform) {
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return RangeData{
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transform * range_data.origin,
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TransformPointCloud(range_data.returns, transform),
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TransformPointCloud(range_data.misses, transform),
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};
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}
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TimedRangeData TransformTimedRangeData(const TimedRangeData& range_data,
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const transform::Rigid3f& transform) {
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return TimedRangeData{
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transform * range_data.origin,
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TransformTimedPointCloud(range_data.returns, transform),
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TransformTimedPointCloud(range_data.misses, transform),
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};
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}
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RangeData CropRangeData(const RangeData& range_data, const float min_z,
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const float max_z) {
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return RangeData{range_data.origin,
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CropPointCloud(range_data.returns, min_z, max_z),
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CropPointCloud(range_data.misses, min_z, max_z)};
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}
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TimedRangeData CropTimedRangeData(const TimedRangeData& range_data,
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const float min_z, const float max_z) {
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return TimedRangeData{range_data.origin,
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CropTimedPointCloud(range_data.returns, min_z, max_z),
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CropTimedPointCloud(range_data.misses, min_z, max_z)};
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}
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proto::RangeData ToProto(const RangeData& range_data) {
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proto::RangeData proto;
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*proto.mutable_origin() = transform::ToProto(range_data.origin);
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proto.mutable_returns()->Reserve(range_data.returns.size());
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for (const Eigen::Vector3f& point : range_data.returns) {
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*proto.add_returns() = transform::ToProto(point);
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}
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proto.mutable_misses()->Reserve(range_data.misses.size());
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for (const Eigen::Vector3f& point : range_data.misses) {
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*proto.add_misses() = transform::ToProto(point);
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}
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return proto;
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}
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RangeData FromProto(const proto::RangeData& proto) {
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PointCloud returns;
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returns.reserve(proto.returns().size());
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std::transform(
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proto.returns().begin(), proto.returns().end(),
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std::back_inserter(returns),
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static_cast<Eigen::Vector3f (*)(const transform::proto::Vector3f&)>(
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transform::ToEigen));
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PointCloud misses;
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misses.reserve(proto.misses().size());
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std::transform(
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proto.misses().begin(), proto.misses().end(), std::back_inserter(misses),
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static_cast<Eigen::Vector3f (*)(const transform::proto::Vector3f&)>(
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transform::ToEigen));
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return RangeData{transform::ToEigen(proto.origin()), returns, misses};
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}
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} // namespace sensor
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} // namespace cartographer
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