00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #include <fstream> 00018 00019 #include "cartographer/common/lua_parameter_dictionary.h" 00020 #include "cartographer/io/file_writer.h" 00021 #include "cartographer/io/points_processor.h" 00022 00023 namespace cartographer { 00024 namespace io { 00025 00026 // Streams a PCD file to disk. The header is written in 'Flush'. 00027 class PcdWritingPointsProcessor : public PointsProcessor { 00028 public: 00029 constexpr static const char* kConfigurationFileActionName = "write_pcd"; 00030 PcdWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer, 00031 PointsProcessor* next); 00032 00033 static std::unique_ptr<PcdWritingPointsProcessor> FromDictionary( 00034 FileWriterFactory file_writer_factory, 00035 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00036 00037 ~PcdWritingPointsProcessor() override {} 00038 00039 PcdWritingPointsProcessor(const PcdWritingPointsProcessor&) = delete; 00040 PcdWritingPointsProcessor& operator=(const PcdWritingPointsProcessor&) = 00041 delete; 00042 00043 void Process(std::unique_ptr<PointsBatch> batch) override; 00044 FlushResult Flush() override; 00045 00046 private: 00047 PointsProcessor* const next_; 00048 00049 int64 num_points_; 00050 bool has_colors_; 00051 std::unique_ptr<FileWriter> file_writer_; 00052 }; 00053 00054 } // namespace io 00055 } // namespace cartographer