hybrid_grid_points_processor.h
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1 #ifndef CARTOGRAPHER_IO_HYBRID_GRID_POINTS_PROCESSOR_H_
2 #define CARTOGRAPHER_IO_HYBRID_GRID_POINTS_PROCESSOR_H_
3 
4 // Library used for inserting range data points into a hybrid grid.
5 
6 #include <memory>
7 #include <string>
8 
14 #include "cartographer/mapping/proto/3d/range_data_inserter_options_3d.pb.h"
15 
16 namespace cartographer {
17 namespace io {
18 
19 // Creates a hybrid grid of the points with voxels being 'voxel_size'
20 // big. 'range_data_inserter' options are used to configure the range
21 // data ray tracing through the hybrid grid.
23  public:
24  constexpr static const char* kConfigurationFileActionName =
25  "write_hybrid_grid";
26  HybridGridPointsProcessor(double voxel_size,
27  const mapping::proto::RangeDataInserterOptions3D&
28  range_data_inserter_options,
29  std::unique_ptr<FileWriter> file_writer,
30  PointsProcessor* next);
33  delete;
34 
35  static std::unique_ptr<HybridGridPointsProcessor> FromDictionary(
36  const FileWriterFactory& file_writer_factory,
38 
40 
41  void Process(std::unique_ptr<PointsBatch> batch) override;
42  FlushResult Flush() override;
43 
44  private:
46 
49  std::unique_ptr<FileWriter> file_writer_;
50 };
51 
52 } // namespace io
53 } // namespace cartographer
54 
55 #endif // CARTOGRAPHER_IO_HYBRID_GRID_POINTS_PROCESSOR_H_
std::function< std::unique_ptr< FileWriter >(const std::string &filename)> FileWriterFactory
Definition: file_writer.h:66
static std::unique_ptr< HybridGridPointsProcessor > FromDictionary(const FileWriterFactory &file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)
HybridGridPointsProcessor(double voxel_size, const mapping::proto::RangeDataInserterOptions3D &range_data_inserter_options, std::unique_ptr< FileWriter > file_writer, PointsProcessor *next)
void Process(std::unique_ptr< PointsBatch > batch) override
HybridGridPointsProcessor & operator=(const HybridGridPointsProcessor &)=delete


cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:58