cartographer/cartographer/sensor/range_data.h

68 lines
2.3 KiB
C++

/*
* Copyright 2016 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_SENSOR_RANGE_DATA_H_
#define CARTOGRAPHER_SENSOR_RANGE_DATA_H_
#include "cartographer/common/port.h"
#include "cartographer/sensor/compressed_point_cloud.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/proto/sensor.pb.h"
namespace cartographer {
namespace sensor {
// Rays begin at 'origin'. 'returns' are the points where obstructions were
// detected. 'misses' are points in the direction of rays for which no return
// was detected, and were inserted at a configured distance. It is assumed that
// between the 'origin' and 'misses' is free space.
struct RangeData {
Eigen::Vector3f origin;
PointCloud returns;
PointCloud misses;
};
// Like 'RangeData', but with 'TimedPointClouds'.
struct TimedRangeData {
Eigen::Vector3f origin;
TimedPointCloud returns;
TimedPointCloud misses;
};
RangeData TransformRangeData(const RangeData& range_data,
const transform::Rigid3f& transform);
TimedRangeData TransformTimedRangeData(const TimedRangeData& range_data,
const transform::Rigid3f& transform);
// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
RangeData CropRangeData(const RangeData& range_data, float min_z, float max_z);
// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
TimedRangeData CropTimedRangeData(const TimedRangeData& range_data, float min_z,
float max_z);
// Converts 'range_data' to a proto::RangeData.
proto::RangeData ToProto(const RangeData& range_data);
// Converts 'proto' to RangeData.
RangeData FromProto(const proto::RangeData& proto);
} // namespace sensor
} // namespace cartographer
#endif // CARTOGRAPHER_SENSOR_RANGE_DATA_H_