86 lines
3.0 KiB
C#
86 lines
3.0 KiB
C#
/*
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* Copyright 2017 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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namespace CartographerSharp.Sensor;
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/// <summary>
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/// Landmark observation structure.
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/// </summary>
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public struct LandmarkObservation(string id, Rigid3d landmarkToTrackingTransform, double translationWeight, double rotationWeight)
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{
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public string Id { get; set; } = id;
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public Rigid3d LandmarkToTrackingTransform { get; set; } = landmarkToTrackingTransform;
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public double TranslationWeight { get; set; } = translationWeight;
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public double RotationWeight { get; set; } = rotationWeight;
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}
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/// <summary>
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/// Landmark data structure.
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/// </summary>
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public struct LandmarkData(long time, List<LandmarkObservation>? landmarkObservations = null)
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{
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public long Time { get; set; } = time;
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public List<LandmarkObservation> LandmarkObservations { get; set; } = landmarkObservations ?? [];
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}
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/// <summary>
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/// Operations on LandmarkData.
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/// </summary>
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public static class LandmarkDataOperations
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{
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/// <summary>
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/// Converts 'landmark_data' to a proto::LandmarkData.
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/// </summary>
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public static Models.Sensor.LandmarkData ToProto(LandmarkData landmarkData)
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{
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var proto = new Models.Sensor.LandmarkData(landmarkData.Time, []);
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foreach (var observation in landmarkData.LandmarkObservations)
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{
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proto.LandmarkObservations.Add(new Models.Sensor.LandmarkData.LandmarkObservation(
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System.Text.Encoding.UTF8.GetBytes(observation.Id),
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(Rigid3dProto)observation.LandmarkToTrackingTransform,
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observation.TranslationWeight,
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observation.RotationWeight
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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 an LandmarkData.
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/// </summary>
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public static LandmarkData FromProto(Models.Sensor.LandmarkData proto)
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{
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var observations = new List<LandmarkObservation>();
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foreach (var protoObservation in proto.LandmarkObservations)
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{
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observations.Add(new LandmarkObservation(
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System.Text.Encoding.UTF8.GetString(protoObservation.Id),
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(Rigid3d)protoObservation.LandmarkToTrackingTransform,
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protoObservation.TranslationWeight,
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protoObservation.RotationWeight
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));
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}
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return new LandmarkData(proto.Timestamp, observations);
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}
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}
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