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

Function Documentation

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]

Definition at line 35 of file color.h.

FloatColor cartographer::io::GetColor ( int id )

Definition at line 61 of file color.cc.

UniqueCairoPtr cartographer::io::MakeUniqueCairoPtr ( cairo_t * surface )

Definition at line 45 of file image.cc.

UniqueCairoSurfacePtr cartographer::io::MakeUniqueCairoSurfacePtr ( cairo_surface_t * surface )

Definition at line 41 of file image.cc.

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.

template<typename PointsProcessorType >

void cartographer::io::RegisterFileWritingPointsProcessor	(	const FileWriterFactory &	file_writer_factory,
		PointsProcessorPipelineBuilder *const	builder
	)

Definition at line 51 of file points_processor_pipeline_builder.cc.

template<typename PointsProcessorType >

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.

template<typename PointsProcessorType >

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]

Definition at line 47 of file color.h.

Uint8Color cartographer::io::ToUint8Color ( const FloatColor & color ) [inline]

Definition at line 42 of file color.h.

float cartographer::io::Uint8ComponentToFloat ( uint8 c ) [inline]

Definition at line 40 of file color.h.

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.

Variable Documentation

constexpr cairo_format_t cartographer::io::kCairoFormat = CAIRO_FORMAT_ARGB32

Definition at line 33 of file image.h.

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.

Namespaces

Classes

Functions

Variables

Function Documentation

Variable Documentation