142 lines
6.3 KiB
C++
Executable File
142 lines
6.3 KiB
C++
Executable File
/*
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* Copyright 2016 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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#include "cartographer/io/points_processor_pipeline_builder.h"
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#include "absl/memory/memory.h"
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#include "cartographer/io/coloring_points_processor.h"
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#include "cartographer/io/counting_points_processor.h"
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#include "cartographer/io/fixed_ratio_sampling_points_processor.h"
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#include "cartographer/io/frame_id_filtering_points_processor.h"
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#include "cartographer/io/hybrid_grid_points_processor.h"
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#include "cartographer/io/intensity_to_color_points_processor.h"
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#include "cartographer/io/min_max_range_filtering_points_processor.h"
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#include "cartographer/io/null_points_processor.h"
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#include "cartographer/io/outlier_removing_points_processor.h"
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#include "cartographer/io/pcd_writing_points_processor.h"
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#include "cartographer/io/ply_writing_points_processor.h"
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#include "cartographer/io/probability_grid_points_processor.h"
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#include "cartographer/io/vertical_range_filtering_points_processor.h"
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#include "cartographer/io/xray_points_processor.h"
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#include "cartographer/io/xyz_writing_points_processor.h"
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#include "cartographer/mapping/proto/trajectory.pb.h"
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namespace cartographer {
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namespace io {
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template <typename PointsProcessorType>
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void RegisterPlainPointsProcessor(
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PointsProcessorPipelineBuilder* const builder) {
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builder->Register(
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PointsProcessorType::kConfigurationFileActionName,
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[](common::LuaParameterDictionary* const dictionary,
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PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
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return PointsProcessorType::FromDictionary(dictionary, next);
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});
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}
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template <typename PointsProcessorType>
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void RegisterFileWritingPointsProcessor(
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const FileWriterFactory& file_writer_factory,
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PointsProcessorPipelineBuilder* const builder) {
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builder->Register(
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PointsProcessorType::kConfigurationFileActionName,
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[file_writer_factory](
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common::LuaParameterDictionary* const dictionary,
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PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
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return PointsProcessorType::FromDictionary(file_writer_factory,
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dictionary, next);
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});
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}
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template <typename PointsProcessorType>
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void RegisterFileWritingPointsProcessorWithTrajectories(
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const std::vector<mapping::proto::Trajectory>& trajectories,
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const FileWriterFactory& file_writer_factory,
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PointsProcessorPipelineBuilder* const builder) {
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builder->Register(
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PointsProcessorType::kConfigurationFileActionName,
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[&trajectories, file_writer_factory](
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common::LuaParameterDictionary* const dictionary,
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PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
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return PointsProcessorType::FromDictionary(
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trajectories, file_writer_factory, dictionary, next);
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});
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}
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void RegisterBuiltInPointsProcessors(
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const std::vector<mapping::proto::Trajectory>& trajectories,
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const FileWriterFactory& file_writer_factory,
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PointsProcessorPipelineBuilder* builder) {
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RegisterPlainPointsProcessor<CountingPointsProcessor>(builder);
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RegisterPlainPointsProcessor<FixedRatioSamplingPointsProcessor>(builder);
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RegisterPlainPointsProcessor<FrameIdFilteringPointsProcessor>(builder);
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RegisterPlainPointsProcessor<MinMaxRangeFilteringPointsProcessor>(builder);
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RegisterPlainPointsProcessor<VerticalRangeFilteringPointsProcessor>(builder);
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RegisterPlainPointsProcessor<OutlierRemovingPointsProcessor>(builder);
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RegisterPlainPointsProcessor<ColoringPointsProcessor>(builder);
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RegisterPlainPointsProcessor<IntensityToColorPointsProcessor>(builder);
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RegisterFileWritingPointsProcessor<PcdWritingPointsProcessor>(
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file_writer_factory, builder);
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RegisterFileWritingPointsProcessor<PlyWritingPointsProcessor>(
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file_writer_factory, builder);
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RegisterFileWritingPointsProcessor<XyzWriterPointsProcessor>(
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file_writer_factory, builder);
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RegisterFileWritingPointsProcessor<HybridGridPointsProcessor>(
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file_writer_factory, builder);
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RegisterFileWritingPointsProcessorWithTrajectories<XRayPointsProcessor>(
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trajectories, file_writer_factory, builder);
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RegisterFileWritingPointsProcessorWithTrajectories<
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ProbabilityGridPointsProcessor>(trajectories, file_writer_factory,
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builder);
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}
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void PointsProcessorPipelineBuilder::Register(const std::string& name,
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FactoryFunction factory) {
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CHECK(factories_.count(name) == 0) << "A points processor named '" << name
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<< "' has already been registered.";
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factories_[name] = std::move(factory);
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}
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PointsProcessorPipelineBuilder::PointsProcessorPipelineBuilder() {}
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std::vector<std::unique_ptr<PointsProcessor>>
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PointsProcessorPipelineBuilder::CreatePipeline(
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common::LuaParameterDictionary* const dictionary) const {
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std::vector<std::unique_ptr<PointsProcessor>> pipeline;
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// The last consumer in the pipeline must exist, so that the one created after
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// it (and being before it in the pipeline) has a valid 'next' to point to.
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// The last consumer will just drop all points.
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pipeline.emplace_back(absl::make_unique<NullPointsProcessor>());
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std::vector<std::unique_ptr<common::LuaParameterDictionary>> configurations =
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dictionary->GetArrayValuesAsDictionaries();
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// We construct the pipeline starting at the back.
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for (auto it = configurations.rbegin(); it != configurations.rend(); it++) {
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const std::string action = (*it)->GetString("action");
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auto factory_it = factories_.find(action);
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CHECK(factory_it != factories_.end())
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<< "Unknown action '" << action
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<< "'. Did you register the correspoinding PointsProcessor?";
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pipeline.push_back(factory_it->second(it->get(), pipeline.back().get()));
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}
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return pipeline;
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}
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} // namespace io
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} // namespace cartographer
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