codetiger
5cf2a3cc81
The harness is only used by the exploration example, not as part of the public API. This change: - Moves harness from src/harness/ to examples/exploration/harness/ - Removes integration-tests feature flag from Cargo.toml - Moves sangam-io, svg, image to dev-dependencies - Removes unused scenario module and path.rs Example now runs with: cargo run --example exploration --release
29 lines
988 B
Rust
29 lines
988 B
Rust
//! Type conversions between sangam-io and vastu-map
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//!
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//! sangam-io's lidar simulator produces `Vec<(f32, f32, u8)>` which maps
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//! directly to vastu-map's `PolarScan.points` format.
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use vastu_map::core::{PointCloud2D, PolarScan};
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/// Convert lidar scan data from sangam-io format to vastu-map PointCloud2D.
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///
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/// Uses full 360° lidar data for better line extraction quality.
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///
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/// # Arguments
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/// * `lidar_data` - Raw lidar data from LidarSimulator::generate_scan()
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/// * `min_quality` - Minimum quality value to include (0-255)
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/// * `min_range` - Minimum valid range in meters
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/// * `max_range` - Maximum valid range in meters
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///
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/// # Returns
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/// Cartesian point cloud in robot frame, filtered by quality and range.
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pub fn lidar_to_point_cloud(
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lidar_data: Vec<(f32, f32, u8)>,
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min_quality: u8,
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min_range: f32,
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max_range: f32,
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) -> PointCloud2D {
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let polar = PolarScan { points: lidar_data };
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polar.to_cartesian(min_quality, min_range, max_range)
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}
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