Namespaces | |
namespace | testing |
Classes | |
class | ColoringPointsProcessor |
class | CountingPointsProcessor |
class | FakeFileWriter |
class | FileWriter |
class | FixedRatioSamplingPointsProcessor |
class | ForwardingProtoStreamWriter |
class | FrameIdFilteringPointsProcessor |
class | HybridGridPointsProcessor |
class | Image |
class | InMemoryProtoStreamReader |
class | IntensityToColorPointsProcessor |
class | MinMaxRangeFiteringPointsProcessor |
class | NullPointsProcessor |
class | OutlierRemovingPointsProcessor |
struct | PaintSubmapSlicesResult |
class | PcdWritingPointsProcessor |
class | PlyWritingPointsProcessor |
struct | PointsBatch |
class | PointsProcessor |
class | PointsProcessorPipelineBuilder |
class | ProbabilityGridPointsProcessor |
class | ProtoStreamDeserializer |
class | ProtoStreamReader |
class | ProtoStreamReaderInterface |
class | ProtoStreamWriter |
class | ProtoStreamWriterInterface |
class | StreamFileWriter |
struct | SubmapSlice |
struct | SubmapTexture |
struct | SubmapTextures |
class | XRayPointsProcessor |
class | XyzWriterPointsProcessor |
Functions | |
mapping::ProbabilityGrid | CreateProbabilityGrid (const double resolution, mapping::ValueConversionTables *conversion_tables) |
void | DeserializeAndFillSubmapSlices (ProtoStreamDeserializer *deserializer, std::map<::cartographer::mapping::SubmapId, SubmapSlice > *submap_slices, mapping::ValueConversionTables *conversion_tables) |
void | DeserializeAndFillSubmapSlices (ProtoStreamDeserializer *deserializer, std::map< mapping::SubmapId, SubmapSlice > *submap_slices, mapping::ValueConversionTables *conversion_tables) |
mapping::proto::PoseGraph | DeserializePoseGraphFromFile (const std::string &file_name) |
std::unique_ptr< Image > | DrawProbabilityGrid (const mapping::ProbabilityGrid &probability_grid, Eigen::Array2i *offset) |
UniqueCairoSurfacePtr | DrawTexture (const std::vector< char > &intensity, const std::vector< char > &alpha, const int width, const int height, std::vector< uint32_t > *const cairo_data) |
void | DrawTrajectory (const mapping::proto::Trajectory &trajectory, const FloatColor &color, const PoseToPixelFunction &pose_to_pixel, cairo_surface_t *surface) |
void | FillSubmapSlice (const ::cartographer::transform::Rigid3d &global_submap_pose, const ::cartographer::mapping::proto::Submap &proto, SubmapSlice *const submap_slice, mapping::ValueConversionTables *conversion_tables) |
uint8 | FloatComponentToUint8 (float c) |
FloatColor | GetColor (int id) |
UniqueCairoPtr | MakeUniqueCairoPtr (cairo_t *surface) |
UniqueCairoSurfacePtr | MakeUniqueCairoSurfacePtr (cairo_surface_t *surface) |
void | MigrateStreamFormatToVersion1 (cartographer::io::ProtoStreamReaderInterface *const input, cartographer::io::ProtoStreamWriterInterface *const output, bool migrate_grid_format) |
mapping::MapById < mapping::SubmapId, mapping::proto::Submap > | MigrateSubmapFormatVersion1ToVersion2 (const mapping::MapById< mapping::SubmapId, mapping::proto::Submap > &submap_id_to_submap, mapping::MapById< mapping::NodeId, mapping::proto::Node > &node_id_to_node, const mapping::proto::PoseGraph &pose_graph_proto) |
PaintSubmapSlicesResult | PaintSubmapSlices (const std::map<::cartographer::mapping::SubmapId, SubmapSlice > &submaps, const double resolution) |
int | pbstream_info (int argc, char *argv[]) |
int | pbstream_migrate (int argc, char **argv) |
void | RegisterBuiltInPointsProcessors (const std::vector< mapping::proto::Trajectory > &trajectories, const FileWriterFactory &file_writer_factory, PointsProcessorPipelineBuilder *builder) |
template<typename PointsProcessorType > | |
void | RegisterFileWritingPointsProcessor (const FileWriterFactory &file_writer_factory, PointsProcessorPipelineBuilder *const builder) |
template<typename PointsProcessorType > | |
void | RegisterFileWritingPointsProcessorWithTrajectories (const std::vector< mapping::proto::Trajectory > &trajectories, const FileWriterFactory &file_writer_factory, PointsProcessorPipelineBuilder *const builder) |
template<typename PointsProcessorType > | |
void | RegisterPlainPointsProcessor (PointsProcessorPipelineBuilder *const builder) |
void | RemovePoints (absl::flat_hash_set< int > to_remove, PointsBatch *batch) |
FloatColor | ToFloatColor (const Uint8Color &color) |
Uint8Color | ToUint8Color (const FloatColor &color) |
float | Uint8ComponentToFloat (uint8 c) |
SubmapTexture::Pixels | UnpackTextureData (const std::string &compressed_cells, const int width, const int height) |
void | WritePbStream (const mapping::PoseGraph &pose_graph, const std::vector< mapping::proto::TrajectoryBuilderOptionsWithSensorIds > &trajectory_builder_options, ProtoStreamWriterInterface *const writer, bool include_unfinished_submaps) |
Variables | |
constexpr cairo_format_t | kCairoFormat = CAIRO_FORMAT_ARGB32 |
static constexpr int | kFormatVersionWithoutSubmapHistograms = 1 |
static constexpr int | kMappingStateSerializationFormatVersion = 2 |
mapping::ProbabilityGrid cartographer::io::CreateProbabilityGrid | ( | const double | resolution, |
mapping::ValueConversionTables * | conversion_tables | ||
) |
Definition at line 197 of file probability_grid_points_processor.cc.
void cartographer::io::DeserializeAndFillSubmapSlices | ( | ProtoStreamDeserializer * | deserializer, |
std::map<::cartographer::mapping::SubmapId, SubmapSlice > * | submap_slices, | ||
mapping::ValueConversionTables * | conversion_tables | ||
) |
void cartographer::io::DeserializeAndFillSubmapSlices | ( | ProtoStreamDeserializer * | deserializer, |
std::map< mapping::SubmapId, SubmapSlice > * | submap_slices, | ||
mapping::ValueConversionTables * | conversion_tables | ||
) |
Definition at line 152 of file submap_painter.cc.
mapping::proto::PoseGraph cartographer::io::DeserializePoseGraphFromFile | ( | const std::string & | file_name | ) |
Definition at line 40 of file proto_stream_deserializer.cc.
std::unique_ptr< Image > cartographer::io::DrawProbabilityGrid | ( | const mapping::ProbabilityGrid & | probability_grid, |
Eigen::Array2i * | offset | ||
) |
Definition at line 174 of file probability_grid_points_processor.cc.
UniqueCairoSurfacePtr cartographer::io::DrawTexture | ( | const std::vector< char > & | intensity, |
const std::vector< char > & | alpha, | ||
const int | width, | ||
const int | height, | ||
std::vector< uint32_t > *const | cairo_data | ||
) |
Definition at line 195 of file submap_painter.cc.
void cartographer::io::DrawTrajectory | ( | const mapping::proto::Trajectory & | trajectory, |
const FloatColor & | color, | ||
const PoseToPixelFunction & | pose_to_pixel, | ||
cairo_surface_t * | surface | ||
) |
Definition at line 25 of file draw_trajectories.cc.
void cartographer::io::FillSubmapSlice | ( | const ::cartographer::transform::Rigid3d & | global_submap_pose, |
const ::cartographer::mapping::proto::Submap & | proto, | ||
SubmapSlice *const | submap_slice, | ||
mapping::ValueConversionTables * | conversion_tables | ||
) |
Definition at line 120 of file submap_painter.cc.
uint8 cartographer::io::FloatComponentToUint8 | ( | float | c | ) | [inline] |
FloatColor cartographer::io::GetColor | ( | int | id | ) |
UniqueCairoPtr cartographer::io::MakeUniqueCairoPtr | ( | cairo_t * | surface | ) |
UniqueCairoSurfacePtr cartographer::io::MakeUniqueCairoSurfacePtr | ( | cairo_surface_t * | surface | ) |
void cartographer::io::MigrateStreamFormatToVersion1 | ( | cartographer::io::ProtoStreamReaderInterface *const | input, |
cartographer::io::ProtoStreamWriterInterface *const | output, | ||
bool | migrate_grid_format | ||
) |
Definition at line 293 of file serialization_format_migration.cc.
mapping::MapById< mapping::SubmapId, mapping::proto::Submap > cartographer::io::MigrateSubmapFormatVersion1ToVersion2 | ( | const mapping::MapById< mapping::SubmapId, mapping::proto::Submap > & | submap_id_to_submap, |
mapping::MapById< mapping::NodeId, mapping::proto::Node > & | node_id_to_node, | ||
const mapping::proto::PoseGraph & | pose_graph_proto | ||
) |
Definition at line 302 of file serialization_format_migration.cc.
PaintSubmapSlicesResult cartographer::io::PaintSubmapSlices | ( | const std::map<::cartographer::mapping::SubmapId, SubmapSlice > & | submaps, |
const double | resolution | ||
) |
Definition at line 72 of file submap_painter.cc.
int cartographer::io::pbstream_info | ( | int | argc, |
char * | argv[] | ||
) |
Definition at line 111 of file pbstream_info.cc.
int cartographer::io::pbstream_migrate | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 31 of file pbstream_migrate.cc.
void cartographer::io::RegisterBuiltInPointsProcessors | ( | const std::vector< mapping::proto::Trajectory > & | trajectories, |
const FileWriterFactory & | file_writer_factory, | ||
PointsProcessorPipelineBuilder * | builder | ||
) |
Definition at line 79 of file points_processor_pipeline_builder.cc.
void cartographer::io::RegisterFileWritingPointsProcessor | ( | const FileWriterFactory & | file_writer_factory, |
PointsProcessorPipelineBuilder *const | builder | ||
) |
Definition at line 51 of file points_processor_pipeline_builder.cc.
void cartographer::io::RegisterFileWritingPointsProcessorWithTrajectories | ( | const std::vector< mapping::proto::Trajectory > & | trajectories, |
const FileWriterFactory & | file_writer_factory, | ||
PointsProcessorPipelineBuilder *const | builder | ||
) |
Definition at line 65 of file points_processor_pipeline_builder.cc.
void cartographer::io::RegisterPlainPointsProcessor | ( | PointsProcessorPipelineBuilder *const | builder | ) |
Definition at line 40 of file points_processor_pipeline_builder.cc.
void cartographer::io::RemovePoints | ( | absl::flat_hash_set< int > | to_remove, |
PointsBatch * | batch | ||
) |
Definition at line 22 of file points_batch.cc.
FloatColor cartographer::io::ToFloatColor | ( | const Uint8Color & | color | ) | [inline] |
Uint8Color cartographer::io::ToUint8Color | ( | const FloatColor & | color | ) | [inline] |
float cartographer::io::Uint8ComponentToFloat | ( | uint8 | c | ) | [inline] |
SubmapTexture::Pixels cartographer::io::UnpackTextureData | ( | const std::string & | compressed_cells, |
const int | width, | ||
const int | height | ||
) |
Definition at line 177 of file submap_painter.cc.
void cartographer::io::WritePbStream | ( | const mapping::PoseGraph & | pose_graph, |
const std::vector< mapping::proto::TrajectoryBuilderOptionsWithSensorIds > & | trajectory_builder_options, | ||
ProtoStreamWriterInterface *const | writer, | ||
bool | include_unfinished_submaps | ||
) |
Definition at line 214 of file mapping_state_serialization.cc.
constexpr cairo_format_t cartographer::io::kCairoFormat = CAIRO_FORMAT_ARGB32 |
constexpr int cartographer::io::kFormatVersionWithoutSubmapHistograms = 1 [static] |
Definition at line 29 of file mapping_state_serialization.h.
constexpr int cartographer::io::kMappingStateSerializationFormatVersion = 2 [static] |
Definition at line 28 of file mapping_state_serialization.h.