141 lines
4.9 KiB
C#
141 lines
4.9 KiB
C#
/*
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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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using CartographerSharp.Models.Transform;
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using CartographerSharp.Transform;
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using RobotNet10.Shared.Numbers;
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namespace CartographerSharp.Sensor;
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/// <summary>
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/// Range data structure.
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/// Rays begin at 'origin'. 'returns' are the points where obstructions were
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/// detected. 'misses' are points in the direction of rays for which no return
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/// was detected, and were inserted at a configured distance. It is assumed that
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/// between the 'origin' and 'misses' is free space.
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/// </summary>
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public struct RangeData(Vector3 origin, PointCloud returns, PointCloud misses)
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{
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public Vector3 Origin { get; set; } = origin;
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public PointCloud Returns { get; set; } = returns;
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public PointCloud Misses { get; set; } = misses;
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}
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/// <summary>
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/// Operations on RangeData.
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/// </summary>
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public static class RangeDataOperations
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{
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/// <summary>
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/// Transforms range data according to a transform.
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/// </summary>
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public static RangeData Transform(RangeData rangeData, Rigid3f transform)
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{
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return new RangeData(
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transform.TransformPoint(rangeData.Origin),
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PointCloudOperations.Transform(rangeData.Returns, transform),
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PointCloudOperations.Transform(rangeData.Misses, transform)
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);
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}
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/// <summary>
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/// Normalizes range data origin to a target origin by translating all points.
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/// This is used in 2D SLAM to ensure consistent origin for ray casting in submap.
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/// </summary>
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public static RangeData NormalizeOrigin(RangeData rangeData, Vector3 targetOrigin)
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{
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var originOffset = targetOrigin - rangeData.Origin;
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return new RangeData(
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targetOrigin,
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PointCloudOperations.Translate(rangeData.Returns, originOffset),
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PointCloudOperations.Translate(rangeData.Misses, originOffset)
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);
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}
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/// <summary>
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/// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
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/// </summary>
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public static RangeData Crop(RangeData rangeData, double minZ, double maxZ)
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{
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return new RangeData(
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rangeData.Origin,
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PointCloudOperations.Crop(rangeData.Returns, minZ, maxZ),
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PointCloudOperations.Crop(rangeData.Misses, minZ, maxZ)
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);
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}
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/// <summary>
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/// Converts 'range_data' to a proto::RangeData.
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/// </summary>
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public static Models.Sensor.RangeData ToProto(RangeData rangeData)
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{
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var proto = new Models.Sensor.RangeData
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{
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Origin = new Vector3f(rangeData.Origin.X, rangeData.Origin.Y, rangeData.Origin.Z),
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Returns = [],
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Misses = []
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};
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foreach (var point in rangeData.Returns.Points)
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{
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proto.Returns.Add(new Models.Sensor.RangefinderPoint
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{
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Position = new Vector3f(point.Position.X, point.Position.Y, point.Position.Z)
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});
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}
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foreach (var point in rangeData.Misses.Points)
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{
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proto.Misses.Add(new Models.Sensor.RangefinderPoint
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{
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Position = new Vector3f(point.Position.X, point.Position.Y, point.Position.Z)
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});
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}
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return proto;
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}
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/// <summary>
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/// Converts 'proto' to RangeData.
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/// </summary>
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public static RangeData FromProto(Models.Sensor.RangeData proto)
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{
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var returns = new List<Sensor.RangefinderPoint>();
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if (proto.Returns.Count > 0)
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{
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foreach (var protoPoint in proto.Returns)
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{
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returns.Add(new Sensor.RangefinderPoint(new Vector3(protoPoint.Position.X, protoPoint.Position.Y, protoPoint.Position.Z)));
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}
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}
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var misses = new List<Sensor.RangefinderPoint>();
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if (proto.Misses.Count > 0)
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{
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foreach (var protoPoint in proto.Misses)
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{
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misses.Add(new Sensor.RangefinderPoint(new Vector3(protoPoint.Position.X, protoPoint.Position.Y, protoPoint.Position.Z)));
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}
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}
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return new RangeData(
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new Vector3(proto.Origin.X, proto.Origin.Y, proto.Origin.Z),
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new PointCloud(returns),
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new PointCloud(misses)
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);
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}
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}
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