assets_writer.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef CARTOGRAPHER_ROS_ASSETS_WRITER_H_
18 #define CARTOGRAPHER_ROS_ASSETS_WRITER_H_
19 
20 #include <string>
21 #include <vector>
22 
25 
26 namespace cartographer_ros {
27 
28 // Writes a trajectory proto and an occupancy grid.
29 void Write2DAssets(
30  const std::vector<::cartographer::mapping::TrajectoryNode>&
31  trajectory_nodes,
32  const string& map_frame,
33  const ::cartographer::mapping_2d::proto::SubmapsOptions& submaps_options,
34  const std::string& stem);
35 
36 // Writes X-ray images, trajectory proto, and PLY files from the
37 // 'trajectory_nodes'. The filenames will all start with 'stem'.
38 void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
39  trajectory_nodes,
40  const double voxel_size, const std::string& stem);
41 
42 } // namespace cartographer_ros
43 
44 #endif // CARTOGRAPHER_ROS_ASSETS_WRITER_H_
void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes, const double voxel_size, const std::string &stem)
void Write2DAssets(const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes, const string &map_frame, const ::cartographer::mapping_2d::proto::SubmapsOptions &submaps_options, const std::string &stem)


cartographer_ros
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autogenerated on Mon Jun 10 2019 12:59:40