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 "cartographer/common/lua_parameter_dictionary.h" 00018 #include "cartographer/io/file_writer.h" 00019 #include "cartographer/io/points_processor.h" 00020 00021 namespace cartographer { 00022 namespace io { 00023 00024 // Streams a PLY file to disk. The header is written in 'Flush'. 00025 class PlyWritingPointsProcessor : public PointsProcessor { 00026 public: 00027 constexpr static const char* kConfigurationFileActionName = "write_ply"; 00028 PlyWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer, 00029 const std::vector<std::string>& comments, 00030 PointsProcessor* next); 00031 00032 static std::unique_ptr<PlyWritingPointsProcessor> FromDictionary( 00033 const FileWriterFactory& file_writer_factory, 00034 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00035 00036 ~PlyWritingPointsProcessor() override {} 00037 00038 PlyWritingPointsProcessor(const PlyWritingPointsProcessor&) = delete; 00039 PlyWritingPointsProcessor& operator=(const PlyWritingPointsProcessor&) = 00040 delete; 00041 00042 void Process(std::unique_ptr<PointsBatch> batch) override; 00043 FlushResult Flush() override; 00044 00045 private: 00046 PointsProcessor* const next_; 00047 00048 std::vector<std::string> comments_; 00049 int64 num_points_; 00050 bool has_colors_; 00051 bool has_intensities_; 00052 std::unique_ptr<FileWriter> file_; 00053 }; 00054 00055 } // namespace io 00056 } // namespace cartographer