00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_ 00018 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_ 00019 00020 #include <vector> 00021 00022 #include "cartographer/transform/transform.h" 00023 00024 namespace cartographer { 00025 namespace mapping { 00026 00027 // Compute all pixels that contain some part of the line segment connecting 00028 // 'scaled_begin' and 'scaled_end'. 'scaled_begin' and 'scaled_end' are scaled 00029 // by 'subpixel_scale'. 'scaled_begin' and 'scaled_end' are expected to be 00030 // greater than zero. Return values are in pixels and not scaled. 00031 std::vector<Eigen::Array2i> RayToPixelMask(const Eigen::Array2i& scaled_begin, 00032 const Eigen::Array2i& scaled_end, 00033 int subpixel_scale); 00034 00035 } // namespace mapping 00036 } // namespace cartographer 00037 00038 #endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_