74 lines
3.8 KiB
C++
Executable File
74 lines
3.8 KiB
C++
Executable File
/*
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* Copyright 2016 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_2D_RAY_TO_PIXEL_MASK_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_
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#include <vector>
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#include "cartographer/transform/transform.h"
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#include "cartographer/mapping/2d/probability_grid.h"
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namespace cartographer {
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namespace mapping {
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// Compute all pixels that contain some part of the line segment connecting
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// 'scaled_begin' and 'scaled_end'. 'scaled_begin' and 'scaled_end' are scaled
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// by 'subpixel_scale'. 'scaled_begin' and 'scaled_end' are expected to be
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// greater than zero. Return values are in pixels and not scaled.
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std::vector<Eigen::Array2i> RayToPixelMask(const Eigen::Array2i& scaled_begin,
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const Eigen::Array2i& scaled_end,
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int subpixel_scale);
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std::vector<Eigen::Array2i> RayToPixelMaskVisualNew(const Eigen::Array2i& scaled_begin,
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const Eigen::Array2i& scaled_end,
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int subpixel_scale,
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const uint8 intensities,
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const transform::Rigid3d local_pose_,
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int flag,
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const std::vector<uint16>& hit_table,
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cartographer::mapping::ProbabilityGrid* probability_grid);
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std::vector<Eigen::Array2i> RayToPixelMaskVisual(const Eigen::Array2i& scaled_begin,
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const Eigen::Array2i& scaled_end,
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int subpixel_scale,
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const uint8 intensities);
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std::vector<Eigen::Array2i> ProcessPixelMask(std::vector<Eigen::Array2i> pixel_mask,
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const Eigen::Array2i& scaled_begin,
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const Eigen::Array2i& scaled_end,
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int subpixel_scale,
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int flag,
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const uint8 intensities,
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const transform::Rigid3d local_pose_);
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std::vector<Eigen::Array2i> ProcessPixelMaskHit(std::vector<Eigen::Array2i> pixel_mask,
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const Eigen::Array2i& scaled_begin,
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const Eigen::Array2i& scaled_end,
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int subpixel_scale,
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int flag,
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const uint8 intensities,
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const transform::Rigid3d local_pose_,
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const std::vector<uint16>& hit_table,
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cartographer::mapping::ProbabilityGrid* probability_grid);
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std::vector<Eigen::Array2i> LocalToMap(const Eigen::Array2i& pixel,
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const Eigen::Array2i& begin,
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const Eigen::Array2i& end,
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int subpixel_scale,
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int flag,
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const transform::Rigid3d local_pose_);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_
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