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 #ifndef CARTOGRAPHER_IO_COLORING_POINTS_PROCESSOR_H_ 00018 #define CARTOGRAPHER_IO_COLORING_POINTS_PROCESSOR_H_ 00019 00020 #include <memory> 00021 00022 #include "cartographer/common/lua_parameter_dictionary.h" 00023 #include "cartographer/io/points_batch.h" 00024 #include "cartographer/io/points_processor.h" 00025 00026 namespace cartographer { 00027 namespace io { 00028 00029 // Colors points with a fixed color by frame_id. 00030 class ColoringPointsProcessor : public PointsProcessor { 00031 public: 00032 constexpr static const char* kConfigurationFileActionName = "color_points"; 00033 00034 ColoringPointsProcessor(const FloatColor& color, const std::string& frame_id, 00035 PointsProcessor* next); 00036 00037 static std::unique_ptr<ColoringPointsProcessor> FromDictionary( 00038 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00039 00040 ~ColoringPointsProcessor() override{}; 00041 00042 ColoringPointsProcessor(const ColoringPointsProcessor&) = delete; 00043 ColoringPointsProcessor& operator=(const ColoringPointsProcessor&) = delete; 00044 00045 void Process(std::unique_ptr<PointsBatch> batch) override; 00046 FlushResult Flush() override; 00047 00048 private: 00049 const FloatColor color_; 00050 const std::string frame_id_; 00051 PointsProcessor* const next_; 00052 }; 00053 00054 } // namespace io 00055 } // namespace cartographer 00056 00057 #endif // CARTOGRAPHER_IO_COLORING_POINTS_PROCESSOR_H_