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

Typedefs
using	FileWriterFactory = std::function< std::unique_ptr< FileWriter >(const std::string &filename)>

using	FloatColor = std::array< float, 3 >

using	PoseToPixelFunction = std::function< Eigen::Array2i(const transform::Rigid3d &pose)>

using	Uint8Color = std::array< uint8, 3 >

using	UniqueCairoPtr = std::unique_ptr< cairo_t, void()(cairo_t )>

using	UniqueCairoSurfacePtr = std::unique_ptr< cairo_surface_t, void()(cairo_surface_t )>

Functions
mapping::ProbabilityGrid	CreateProbabilityGrid (const double resolution)

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)

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)

PaintSubmapSlicesResult	PaintSubmapSlices (const std::map<::cartographer::mapping::SubmapId, SubmapSlice > &submaps, const double resolution)

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 (std::unordered_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)

Variables
constexpr cairo_format_t	kCairoFormat = CAIRO_FORMAT_ARGB32

static constexpr int	kMappingStateSerializationFormatVersion = 1

Typedef Documentation

◆ FileWriterFactory

using cartographer::io::FileWriterFactory = typedef std::function<std::unique_ptr<FileWriter>(const std::string& filename)>

Definition at line 66 of file file_writer.h.

◆ FloatColor

using cartographer::io::FloatColor = typedef std::array<float, 3>

Definition at line 29 of file color.h.

◆ PoseToPixelFunction

using cartographer::io::PoseToPixelFunction = typedef std::function<Eigen::Array2i(const transform::Rigid3d& pose)>

Definition at line 29 of file draw_trajectories.h.

◆ Uint8Color

using cartographer::io::Uint8Color = typedef std::array<uint8, 3>

Definition at line 28 of file color.h.

◆ UniqueCairoPtr

using cartographer::io::UniqueCairoPtr = typedef std::unique_ptr<cairo_t, void (*)(cairo_t*)>

Definition at line 44 of file image.h.

◆ UniqueCairoSurfacePtr

using cartographer::io::UniqueCairoSurfacePtr = typedef std::unique_ptr<cairo_surface_t, void (*)(cairo_surface_t*)>

Definition at line 38 of file image.h.

Function Documentation

◆ CreateProbabilityGrid()

mapping::ProbabilityGrid cartographer::io::CreateProbabilityGrid ( const double resolution )

Definition at line 150 of file probability_grid_points_processor.cc.

◆ DeserializePoseGraphFromFile()

mapping::proto::PoseGraph cartographer::io::DeserializePoseGraphFromFile ( const std::string & file_name )

Definition at line 39 of file proto_stream_deserializer.cc.

◆ DrawProbabilityGrid()

std::unique_ptr< Image > cartographer::io::DrawProbabilityGrid	(	const mapping::ProbabilityGrid &	probability_grid,
		Eigen::Array2i *	offset
	)

Definition at line 127 of file probability_grid_points_processor.cc.

◆ DrawTexture()

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 158 of file submap_painter.cc.

◆ DrawTrajectory()

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.

◆ FillSubmapSlice()

void cartographer::io::FillSubmapSlice	(	const ::cartographer::transform::Rigid3d &	global_submap_pose,
		const ::cartographer::mapping::proto::Submap &	proto,
		SubmapSlice *const	submap_slice
	)

Definition at line 110 of file submap_painter.cc.

◆ FloatComponentToUint8()

uint8 cartographer::io::FloatComponentToUint8 ( float c )

inline

Definition at line 35 of file color.h.

◆ GetColor()

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

Definition at line 61 of file color.cc.

◆ MakeUniqueCairoPtr()

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

Definition at line 45 of file image.cc.

◆ MakeUniqueCairoSurfacePtr()

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

Definition at line 41 of file image.cc.

◆ MigrateStreamFormatToVersion1()

void cartographer::io::MigrateStreamFormatToVersion1	(	cartographer::io::ProtoStreamReaderInterface *const	input,
		cartographer::io::ProtoStreamWriterInterface *const	output
	)

Definition at line 146 of file serialization_format_migration.cc.

◆ PaintSubmapSlices()

PaintSubmapSlicesResult cartographer::io::PaintSubmapSlices	(	const std::map<::cartographer::mapping::SubmapId, SubmapSlice > &	submaps,
		const double	resolution
	)

Definition at line 62 of file submap_painter.cc.

◆ RegisterBuiltInPointsProcessors()

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.

◆ RegisterFileWritingPointsProcessor()

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.

◆ RegisterFileWritingPointsProcessorWithTrajectories()

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.

◆ RegisterPlainPointsProcessor()

template<typename PointsProcessorType >

void cartographer::io::RegisterPlainPointsProcessor ( PointsProcessorPipelineBuilder *const builder )

Definition at line 40 of file points_processor_pipeline_builder.cc.

◆ RemovePoints()

void cartographer::io::RemovePoints	(	std::unordered_set< int >	to_remove,
		PointsBatch *	batch
	)

Definition at line 22 of file points_batch.cc.

◆ ToFloatColor()

FloatColor cartographer::io::ToFloatColor ( const Uint8Color & color )

inline

Definition at line 47 of file color.h.

◆ ToUint8Color()

Uint8Color cartographer::io::ToUint8Color ( const FloatColor & color )

inline

Definition at line 42 of file color.h.

◆ Uint8ComponentToFloat()

float cartographer::io::Uint8ComponentToFloat ( uint8 c )

inline

Definition at line 40 of file color.h.

◆ UnpackTextureData()

SubmapTexture::Pixels cartographer::io::UnpackTextureData	(	const std::string &	compressed_cells,
		const int	width,
		const int	height
	)

Definition at line 140 of file submap_painter.cc.

◆ WritePbStream()

void cartographer::io::WritePbStream	(	const mapping::PoseGraph &	pose_graph,
		const std::vector< mapping::proto::TrajectoryBuilderOptionsWithSensorIds > &	trajectory_builder_options,
		ProtoStreamWriterInterface *const	writer
	)

Definition at line 193 of file mapping_state_serialization.cc.

Variable Documentation

◆ kCairoFormat

constexpr cairo_format_t cartographer::io::kCairoFormat = CAIRO_FORMAT_ARGB32

Definition at line 33 of file image.h.

◆ kMappingStateSerializationFormatVersion

constexpr int cartographer::io::kMappingStateSerializationFormatVersion = 1

static

Definition at line 27 of file mapping_state_serialization.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ FileWriterFactory

◆ FloatColor

◆ PoseToPixelFunction

◆ Uint8Color

◆ UniqueCairoPtr

◆ UniqueCairoSurfacePtr

Function Documentation

◆ CreateProbabilityGrid()

◆ DeserializePoseGraphFromFile()

◆ DrawProbabilityGrid()

◆ DrawTexture()

◆ DrawTrajectory()

◆ FillSubmapSlice()

◆ FloatComponentToUint8()

◆ GetColor()

◆ MakeUniqueCairoPtr()

◆ MakeUniqueCairoSurfacePtr()

◆ MigrateStreamFormatToVersion1()

◆ PaintSubmapSlices()

◆ RegisterBuiltInPointsProcessors()

◆ RegisterFileWritingPointsProcessor()

◆ RegisterFileWritingPointsProcessorWithTrajectories()

◆ RegisterPlainPointsProcessor()

◆ RemovePoints()

◆ ToFloatColor()

◆ ToUint8Color()

◆ Uint8ComponentToFloat()

◆ UnpackTextureData()

◆ WritePbStream()

Variable Documentation

◆ kCairoFormat

◆ kMappingStateSerializationFormatVersion