56 lines
2.0 KiB
C++
Executable File
56 lines
2.0 KiB
C++
Executable File
#ifndef CARTOGRAPHER_IO_HYBRID_GRID_POINTS_PROCESSOR_H_
|
|
#define CARTOGRAPHER_IO_HYBRID_GRID_POINTS_PROCESSOR_H_
|
|
|
|
// Library used for inserting range data points into a hybrid grid.
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "cartographer/io/file_writer.h"
|
|
#include "cartographer/io/points_batch.h"
|
|
#include "cartographer/io/points_processor.h"
|
|
#include "cartographer/mapping/3d/hybrid_grid.h"
|
|
#include "cartographer/mapping/3d/range_data_inserter_3d.h"
|
|
#include "cartographer/mapping/proto/range_data_inserter_options_3d.pb.h"
|
|
|
|
namespace cartographer {
|
|
namespace io {
|
|
|
|
// Creates a hybrid grid of the points with voxels being 'voxel_size'
|
|
// big. 'range_data_inserter' options are used to configure the range
|
|
// data ray tracing through the hybrid grid.
|
|
class HybridGridPointsProcessor : public PointsProcessor {
|
|
public:
|
|
constexpr static const char* kConfigurationFileActionName =
|
|
"write_hybrid_grid";
|
|
HybridGridPointsProcessor(double voxel_size,
|
|
const mapping::proto::RangeDataInserterOptions3D&
|
|
range_data_inserter_options,
|
|
std::unique_ptr<FileWriter> file_writer,
|
|
PointsProcessor* next);
|
|
HybridGridPointsProcessor(const HybridGridPointsProcessor&) = delete;
|
|
HybridGridPointsProcessor& operator=(const HybridGridPointsProcessor&) =
|
|
delete;
|
|
|
|
static std::unique_ptr<HybridGridPointsProcessor> FromDictionary(
|
|
const FileWriterFactory& file_writer_factory,
|
|
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
|
|
|
|
~HybridGridPointsProcessor() override {}
|
|
|
|
void Process(std::unique_ptr<PointsBatch> batch) override;
|
|
FlushResult Flush() override;
|
|
|
|
private:
|
|
PointsProcessor* const next_;
|
|
|
|
mapping::RangeDataInserter3D range_data_inserter_;
|
|
mapping::HybridGrid hybrid_grid_;
|
|
std::unique_ptr<FileWriter> file_writer_;
|
|
};
|
|
|
|
} // namespace io
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_IO_HYBRID_GRID_POINTS_PROCESSOR_H_
|