00001 /* 00002 * Copyright 2017 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_SENSOR_TIMED_POINT_CLOUD_DATA_H_ 00018 #define CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_ 00019 00020 #include "Eigen/Core" 00021 #include "cartographer/common/time.h" 00022 #include "cartographer/sensor/point_cloud.h" 00023 00024 namespace cartographer { 00025 namespace sensor { 00026 00027 struct TimedPointCloudData { 00028 common::Time time; 00029 Eigen::Vector3f origin; 00030 TimedPointCloud ranges; 00031 }; 00032 00033 struct TimedPointCloudOriginData { 00034 struct RangeMeasurement { 00035 TimedRangefinderPoint point_time; 00036 size_t origin_index; 00037 }; 00038 common::Time time; 00039 std::vector<Eigen::Vector3f> origins; 00040 std::vector<RangeMeasurement> ranges; 00041 }; 00042 00043 // Converts 'timed_point_cloud_data' to a proto::TimedPointCloudData. 00044 proto::TimedPointCloudData ToProto( 00045 const TimedPointCloudData& timed_point_cloud_data); 00046 00047 // Converts 'proto' to TimedPointCloudData. 00048 TimedPointCloudData FromProto(const proto::TimedPointCloudData& proto); 00049 00050 } // namespace sensor 00051 } // namespace cartographer 00052 00053 #endif // CARTOGRAPHER_SENSOR_TIMED_POINT_CLOUD_DATA_H_