44 lines
1.6 KiB
C
44 lines
1.6 KiB
C
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/*
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* Copyright 2018 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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#ifndef CARTOGRAPHER_MAPPING_INTERNAL_NORMAL_ESTIMATION_2D_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_NORMAL_ESTIMATION_2D_H_
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#include <vector>
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#include "cartographer/mapping/proto/normal_estimation_options_2d.pb.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/sensor/range_data.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace mapping {
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proto::NormalEstimationOptions2D CreateNormalEstimationOptions2D(
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common::LuaParameterDictionary* parameter_dictionary);
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// Estimates the normal for each 'return' in 'range_data'.
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// Assumes the angles in the range data returns are sorted with respect to
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// the orientation of the vector from 'origin' to 'return'.
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std::vector<float> EstimateNormals(
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const sensor::RangeData& range_data,
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const proto::NormalEstimationOptions2D& normal_estimation_options);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_NORMAL_ESTIMATION_2D_H_
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