72 lines
2.5 KiB
C++
Executable File
72 lines
2.5 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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#ifndef CARTOGRAPHER_IO_POINTS_PROCESSOR_PIPELINE_BUILDER_H_
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#define CARTOGRAPHER_IO_POINTS_PROCESSOR_PIPELINE_BUILDER_H_
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#include <string>
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#include <vector>
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#include "absl/container/flat_hash_map.h"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/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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// Builder to create a points processor pipeline out of a Lua configuration.
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// You can register all built-in PointsProcessors using
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// 'RegisterBuiltInPointsProcessors'. Non-built-in PointsProcessors must define
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// a name and a factory method for building itself from a
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// LuaParameterDictionary. See the various built-in PointsProcessors for
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// examples.
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class PointsProcessorPipelineBuilder {
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public:
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using FactoryFunction = std::function<std::unique_ptr<PointsProcessor>(
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common::LuaParameterDictionary*, PointsProcessor* next)>;
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PointsProcessorPipelineBuilder();
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PointsProcessorPipelineBuilder(const PointsProcessorPipelineBuilder&) =
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delete;
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PointsProcessorPipelineBuilder& operator=(
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const PointsProcessorPipelineBuilder&) = delete;
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// Register a new PointsProcessor type uniquly identified by 'name' which will
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// be created using 'factory'.
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void Register(const std::string& name, FactoryFunction factory);
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std::vector<std::unique_ptr<PointsProcessor>> CreatePipeline(
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common::LuaParameterDictionary* dictionary) const;
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private:
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absl::flat_hash_map<std::string, FactoryFunction> factories_;
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};
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// Register all 'PointsProcessor' that ship with Cartographer with this
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// 'builder'.
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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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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_POINTS_PROCESSOR_PIPELINE_BUILDER_H_
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