54 lines
2.2 KiB
C
54 lines
2.2 KiB
C
// This is an advanced implementation of the algorithm described in the following paper:
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// J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
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// Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
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// Modifier: Tong Qin qintonguav@gmail.com
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// Shaozu Cao saozu.cao@connect.ust.hk
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// Copyright 2013, Ji Zhang, Carnegie Mellon University
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// Further contributions copyright (c) 2016, Southwest Research Institute
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// 3. Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from this
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// software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#pragma once
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#include <cmath>
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#include <pcl/point_types.h>
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typedef pcl::PointXYZI PointType;
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inline double rad2deg(double radians)
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{
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return radians * 180.0 / M_PI;
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}
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inline double deg2rad(double degrees)
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{
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return degrees * M_PI / 180.0;
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}
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