53 lines
1.7 KiB
C++
Executable File
53 lines
1.7 KiB
C++
Executable File
/*
|
|
* Copyright 2016 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_IO_COUNTING_POINTS_PROCESSOR_H_
|
|
#define CARTOGRAPHER_IO_COUNTING_POINTS_PROCESSOR_H_
|
|
|
|
#include "cartographer/common/lua_parameter_dictionary.h"
|
|
#include "cartographer/io/points_processor.h"
|
|
|
|
namespace cartographer {
|
|
namespace io {
|
|
|
|
// Passes through points, but keeps track of how many points it saw and output
|
|
// that on Flush.
|
|
class CountingPointsProcessor : public PointsProcessor {
|
|
public:
|
|
constexpr static const char* kConfigurationFileActionName = "dump_num_points";
|
|
explicit CountingPointsProcessor(PointsProcessor* next);
|
|
|
|
static std::unique_ptr<CountingPointsProcessor> FromDictionary(
|
|
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
|
|
|
|
~CountingPointsProcessor() override {}
|
|
|
|
CountingPointsProcessor(const CountingPointsProcessor&) = delete;
|
|
CountingPointsProcessor& operator=(const CountingPointsProcessor&) = delete;
|
|
|
|
void Process(std::unique_ptr<PointsBatch> points) override;
|
|
FlushResult Flush() override;
|
|
|
|
private:
|
|
int64 num_points_;
|
|
PointsProcessor* next_;
|
|
};
|
|
|
|
} // namespace io
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_IO_COUNTING_POINTS_PROCESSOR_H_
|