70 lines
2.4 KiB
C#
70 lines
2.4 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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/// The fixed frame pose data (like GPS, pose, etc.) will be used in the optimization.
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/// </summary>
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public struct FixedFramePoseData(long time, Rigid3d? pose = null)
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{
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public long Time { get; set; } = time;
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public Rigid3d? Pose { get; set; } = pose;
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}
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/// <summary>
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/// Operations on FixedFramePoseData.
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/// </summary>
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public static class FixedFramePoseDataOperations
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{
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/// <summary>
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/// Converts 'pose_data' to a proto::FixedFramePoseData.
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/// </summary>
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public static Models.Sensor.FixedFramePoseData ToProto(FixedFramePoseData poseData)
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{
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return new Models.Sensor.FixedFramePoseData(
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poseData.Time,
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poseData.Pose.HasValue ? (Rigid3dProto)poseData.Pose.Value : default
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);
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}
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/// <summary>
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/// Converts 'proto' to an FixedFramePoseData.
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/// </summary>
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public static FixedFramePoseData FromProto(Models.Sensor.FixedFramePoseData proto)
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{
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// Check if pose is set (equivalent to proto.has_pose() in C++)
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// In C#, since Rigid3dProto is a struct, we check if rotation quaternion is normalized
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// (a valid quaternion should have norm close to 1, default would be all zeros)
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Rigid3d? pose = null;
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var rot = proto.Pose.Rotation;
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var quatNorm = Math.Sqrt(rot.W * rot.W + rot.X * rot.X + rot.Y * rot.Y + rot.Z * rot.Z);
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// If quaternion is normalized (or close to normalized), pose is set
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if (quatNorm > 0.1) // Threshold to distinguish from default (0,0,0,0)
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{
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pose = (Rigid3d)proto.Pose;
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}
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return new FixedFramePoseData(
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proto.Timestamp,
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pose
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);
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}
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}
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