pcd_writing_points_processor.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 #include <fstream>
18 
22 
23 namespace cartographer {
24 namespace io {
25 
26 // Streams a PCD file to disk. The header is written in 'Flush'.
28  public:
29  constexpr static const char* kConfigurationFileActionName = "write_pcd";
30  PcdWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer,
31  PointsProcessor* next);
32 
33  static std::unique_ptr<PcdWritingPointsProcessor> FromDictionary(
34  FileWriterFactory file_writer_factory,
36 
38 
41  delete;
42 
43  void Process(std::unique_ptr<PointsBatch> batch) override;
44  FlushResult Flush() override;
45 
46  private:
48 
51  std::unique_ptr<FileWriter> file_writer_;
52 };
53 
54 } // namespace io
55 } // namespace cartographer
PcdWritingPointsProcessor & operator=(const PcdWritingPointsProcessor &)=delete
std::function< std::unique_ptr< FileWriter >(const std::string &filename)> FileWriterFactory
Definition: file_writer.h:66
int64_t int64
Definition: port.h:33
PcdWritingPointsProcessor(std::unique_ptr< FileWriter > file_writer, PointsProcessor *next)
static std::unique_ptr< PcdWritingPointsProcessor > FromDictionary(FileWriterFactory file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)
void Process(std::unique_ptr< PointsBatch > batch) override


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