55 lines
1.6 KiB
C#
55 lines
1.6 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 System.Text.Json.Serialization;
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namespace CartographerSharp.Models.GroundTruth;
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/// <summary>
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/// Relation between two timestamps with expected relative transform.
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/// </summary>
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public struct Relation
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{
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[JsonPropertyName("timestamp1")]
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public long Timestamp1 { get; set; }
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[JsonPropertyName("timestamp2")]
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public long Timestamp2 { get; set; }
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/// <summary>
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/// The 'expected' relative transform of the tracking frame from 'timestamp2'
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/// to 'timestamp1'.
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/// </summary>
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[JsonPropertyName("expected")]
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public Rigid3dProto Expected { get; set; }
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/// <summary>
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/// Covered distance between the two timestamps.
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/// </summary>
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[JsonPropertyName("covered_distance")]
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public double CoveredDistance { get; set; }
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}
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/// <summary>
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/// Ground truth data containing relations.
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/// </summary>
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public struct GroundTruth
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{
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[JsonPropertyName("relation")]
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public List<Relation> Relations { get; set; }
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}
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