cartographer源码分析(19)-sensor-range_data.h

最新推荐文章于 2023-12-06 16:27:37 发布

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最新推荐文章于 2023-12-06 16:27:37 发布

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分类专栏： cartographer源码分析

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文件:sensor/range_data.h


#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 {
   

/*
RangeData:
数据成员包括
1),原始位置,{x0,y0,z0}
2),返回点云,{x,y,z}
3),缺失点云,标识free space.
*/
// 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;//{x0,y0,z0},sensor坐标。
  PointCloud returns;    //反射位置{x,y,z}，表征有物体反射。
  PointCloud misses;     //无反射,自由空间
};

// Converts 'range_data' to a proto::RangeData. 序列化
proto::RangeData ToProto(const RangeData& range_data);

// Converts 'proto' to a RangeData. 反序列化
RangeData FromProto(const proto::RangeData& proto);

//对数据进行3d变换，转换为机器坐标
RangeData TransformRangeData(