Draw Trajectories onto X-Rays and ProbabilityGrids. (#421)

This behavior can be turned off with the 'draw_trajectories' setting in Lua.

Fixes #174.
master
Holger Rapp 2017-07-25 13:36:50 +02:00 committed by GitHub
parent 8dfd650068
commit ea7c39b6f0
9 changed files with 227 additions and 49 deletions

View File

@ -0,0 +1,69 @@
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/io/draw_trajectories.h"
#include "cartographer/io/image.h"
#include "cartographer/transform/transform.h"
namespace cartographer {
namespace io {
void DrawTrajectory(const mapping::proto::Trajectory& trajectory,
const Color& color, PoseToPixelFunction pose_to_pixel,
cairo_surface_t* surface) {
if (trajectory.node_size() == 0) {
return;
}
constexpr double kTrajectoryWidth = 4.;
constexpr double kTrajectoryEndMarkers = 6.;
constexpr double kAlpha = 0.7;
auto cr = ::cartographer::io::MakeUniqueCairoPtr(cairo_create(surface));
cairo_set_source_rgba(cr.get(), color[0] / 255., color[1] / 255.,
color[2] / 255., kAlpha);
cairo_set_line_width(cr.get(), kTrajectoryWidth);
for (const auto& node : trajectory.node()) {
const Eigen::Array2i pixel =
pose_to_pixel(transform::ToRigid3(node.pose()));
cairo_line_to(cr.get(), pixel.x(), pixel.y());
}
cairo_stroke(cr.get());
// Draw beginning and end markers.
{
const Eigen::Array2i pixel =
pose_to_pixel(transform::ToRigid3(trajectory.node(0).pose()));
cairo_set_source_rgba(cr.get(), 0., 1., 0., kAlpha);
cairo_arc(cr.get(), pixel.x(), pixel.y(), kTrajectoryEndMarkers, 0,
2 * M_PI);
cairo_fill(cr.get());
}
{
const Eigen::Array2i pixel = pose_to_pixel(transform::ToRigid3(
trajectory.node(trajectory.node_size() - 1).pose()));
cairo_set_source_rgba(cr.get(), 1., 0., 0., kAlpha);
cairo_arc(cr.get(), pixel.x(), pixel.y(), kTrajectoryEndMarkers, 0,
2 * M_PI);
cairo_fill(cr.get());
}
cairo_surface_flush(surface);
}
} // namespace io
} // namespace cartographer

View File

@ -0,0 +1,41 @@
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
#define CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
#include "cairo/cairo.h"
#include "cartographer/io/color.h"
#include "cartographer/mapping/proto/trajectory.pb.h"
#include "cartographer/transform/rigid_transform.h"
namespace cartographer {
namespace io {
using PoseToPixelFunction =
std::function<Eigen::Array2i(const transform::Rigid3d& pose)>;
// Draws the 'trajectory' with the given 'color' onto 'surface'. The
// 'pose_to_pixel' function must translate a trajectory node's position into the
// pixel on 'surface'.
void DrawTrajectory(const mapping::proto::Trajectory& trajectory,
const Color& color, PoseToPixelFunction pose_to_pixel,
cairo_surface_t* surface);
} // namespace io
} // namespace cartographer
#endif // CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_

View File

@ -33,13 +33,13 @@ class Image {
void SetPixel(int x, int y, const Color& color); void SetPixel(int x, int y, const Color& color);
void WritePng(FileWriter* const file_writer); void WritePng(FileWriter* const file_writer);
private:
// Returns a pointer to a cairo surface that contains the current pixel data. // Returns a pointer to a cairo surface that contains the current pixel data.
// The 'Image' object must therefore outlive the returned surface object. It // The 'Image' object must therefore outlive the returned surface object. It
// is undefined behavior to call any of the mutating functions while a pointer // is undefined behavior to call any of the mutating functions while a pointer
// to this surface is alive. // to this surface is alive.
UniqueCairoSurfacePtr GetCairoSurface(); UniqueCairoSurfacePtr GetCairoSurface();
private:
int width_; int width_;
int height_; int height_;
int stride_; int stride_;

View File

@ -60,8 +60,23 @@ void RegisterFileWritingPointsProcessor(
}); });
} }
template <typename PointsProcessorType>
void RegisterFileWritingPointsProcessorWithTrajectories(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory,
PointsProcessorPipelineBuilder* const builder) {
builder->Register(
PointsProcessorType::kConfigurationFileActionName,
[&trajectories, file_writer_factory](
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
return PointsProcessorType::FromDictionary(
trajectories, file_writer_factory, dictionary, next);
});
}
void RegisterBuiltInPointsProcessors( void RegisterBuiltInPointsProcessors(
const mapping::proto::Trajectory& trajectory, const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, FileWriterFactory file_writer_factory,
PointsProcessorPipelineBuilder* builder) { PointsProcessorPipelineBuilder* builder) {
RegisterPlainPointsProcessor<CountingPointsProcessor>(builder); RegisterPlainPointsProcessor<CountingPointsProcessor>(builder);
@ -78,19 +93,11 @@ void RegisterBuiltInPointsProcessors(
file_writer_factory, builder); file_writer_factory, builder);
RegisterFileWritingPointsProcessor<HybridGridPointsProcessor>( RegisterFileWritingPointsProcessor<HybridGridPointsProcessor>(
file_writer_factory, builder); file_writer_factory, builder);
RegisterFileWritingPointsProcessor<ProbabilityGridPointsProcessor>( RegisterFileWritingPointsProcessorWithTrajectories<XRayPointsProcessor>(
file_writer_factory, builder); trajectories, file_writer_factory, builder);
RegisterFileWritingPointsProcessorWithTrajectories<
// X-Ray is an odd ball since it requires the trajectory to figure out the ProbabilityGridPointsProcessor>(trajectories, file_writer_factory,
// different building levels we walked on to separate the images. builder);
builder->Register(
XRayPointsProcessor::kConfigurationFileActionName,
[&trajectory, file_writer_factory](
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
return XRayPointsProcessor::FromDictionary(
trajectory, file_writer_factory, dictionary, next);
});
} }
void PointsProcessorPipelineBuilder::Register(const std::string& name, void PointsProcessorPipelineBuilder::Register(const std::string& name,

View File

@ -61,7 +61,7 @@ class PointsProcessorPipelineBuilder {
// Register all 'PointsProcessor' that ship with Cartographer with this // Register all 'PointsProcessor' that ship with Cartographer with this
// 'builder'. // 'builder'.
void RegisterBuiltInPointsProcessors( void RegisterBuiltInPointsProcessors(
const mapping::proto::Trajectory& trajectory, const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, FileWriterFactory file_writer_factory,
PointsProcessorPipelineBuilder* builder); PointsProcessorPipelineBuilder* builder);

View File

@ -4,6 +4,7 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/io/draw_trajectories.h"
#include "cartographer/io/image.h" #include "cartographer/io/image.h"
#include "cartographer/io/points_batch.h" #include "cartographer/io/points_batch.h"
@ -11,8 +12,11 @@ namespace cartographer {
namespace io { namespace io {
namespace { namespace {
void WriteGrid(const mapping_2d::ProbabilityGrid& probability_grid, void WriteGrid(
FileWriter* const file_writer) { const mapping_2d::ProbabilityGrid& probability_grid,
const ProbabilityGridPointsProcessor::DrawTrajectories& draw_trajectories,
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriter* const file_writer) {
Eigen::Array2i offset; Eigen::Array2i offset;
mapping_2d::CellLimits cell_limits; mapping_2d::CellLimits cell_limits;
probability_grid.ComputeCroppedLimits(&offset, &cell_limits); probability_grid.ComputeCroppedLimits(&offset, &cell_limits);
@ -20,9 +24,6 @@ void WriteGrid(const mapping_2d::ProbabilityGrid& probability_grid,
LOG(WARNING) << "Not writing output: empty probability grid"; LOG(WARNING) << "Not writing output: empty probability grid";
return; return;
} }
const auto grid_index_to_pixel = [cell_limits](const Eigen::Array2i& index) {
return Eigen::Array2i(index(0), index(1));
};
const auto compute_color_value = [&probability_grid]( const auto compute_color_value = [&probability_grid](
const Eigen::Array2i& index) { const Eigen::Array2i& index) {
if (probability_grid.IsKnown(index)) { if (probability_grid.IsKnown(index)) {
@ -35,15 +36,26 @@ void WriteGrid(const mapping_2d::ProbabilityGrid& probability_grid,
return kUnknownValue; return kUnknownValue;
} }
}; };
int width = cell_limits.num_x_cells; Image image(cell_limits.num_x_cells, cell_limits.num_y_cells);
int height = cell_limits.num_y_cells;
Image image(width, height);
for (auto xy_index : for (auto xy_index :
cartographer::mapping_2d::XYIndexRangeIterator(cell_limits)) { cartographer::mapping_2d::XYIndexRangeIterator(cell_limits)) {
auto index = xy_index + offset; auto index = xy_index + offset;
uint8 value = compute_color_value(index); uint8 value = compute_color_value(index);
const Eigen::Array2i pixel = grid_index_to_pixel(xy_index); image.SetPixel(xy_index.x(), xy_index.y(), {{value, value, value}});
image.SetPixel(pixel.x(), pixel.y(), {{value, value, value}}); }
if (draw_trajectories ==
ProbabilityGridPointsProcessor::DrawTrajectories::kYes) {
for (size_t i = 0; i < trajectories.size(); ++i) {
DrawTrajectory(trajectories[i], GetColor(i),
[&probability_grid, &offset](
const transform::Rigid3d& pose) -> Eigen::Array2i {
return probability_grid.limits().GetCellIndex(
pose.cast<float>().translation().head<2>()) -
offset;
},
image.GetCairoSurface().get());
}
} }
image.WritePng(file_writer); image.WritePng(file_writer);
CHECK(file_writer->Close()); CHECK(file_writer->Close());
@ -65,22 +77,34 @@ ProbabilityGridPointsProcessor::ProbabilityGridPointsProcessor(
const double resolution, const double resolution,
const mapping_2d::proto::RangeDataInserterOptions& const mapping_2d::proto::RangeDataInserterOptions&
range_data_inserter_options, range_data_inserter_options,
std::unique_ptr<FileWriter> file_writer, PointsProcessor* const next) const DrawTrajectories& draw_trajectories,
: next_(next), std::unique_ptr<FileWriter> file_writer,
const std::vector<mapping::proto::Trajectory>& trajectories,
PointsProcessor* const next)
: draw_trajectories_(draw_trajectories),
trajectories_(trajectories),
file_writer_(std::move(file_writer)), file_writer_(std::move(file_writer)),
next_(next),
range_data_inserter_(range_data_inserter_options), range_data_inserter_(range_data_inserter_options),
probability_grid_(CreateProbabilityGrid(resolution)) {} probability_grid_(CreateProbabilityGrid(resolution)) {}
std::unique_ptr<ProbabilityGridPointsProcessor> std::unique_ptr<ProbabilityGridPointsProcessor>
ProbabilityGridPointsProcessor::FromDictionary( ProbabilityGridPointsProcessor::FromDictionary(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, FileWriterFactory file_writer_factory,
common::LuaParameterDictionary* const dictionary, common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) { PointsProcessor* const next) {
const auto draw_trajectories = (!dictionary->HasKey("draw_trajectories") ||
dictionary->GetBool("draw_trajectories"))
? DrawTrajectories::kYes
: DrawTrajectories::kNo;
return common::make_unique<ProbabilityGridPointsProcessor>( return common::make_unique<ProbabilityGridPointsProcessor>(
dictionary->GetDouble("resolution"), dictionary->GetDouble("resolution"),
mapping_2d::CreateRangeDataInserterOptions( mapping_2d::CreateRangeDataInserterOptions(
dictionary->GetDictionary("range_data_inserter").get()), dictionary->GetDictionary("range_data_inserter").get()),
file_writer_factory(dictionary->GetString("filename") + ".png"), next); draw_trajectories,
file_writer_factory(dictionary->GetString("filename") + ".png"),
trajectories, next);
} }
void ProbabilityGridPointsProcessor::Process( void ProbabilityGridPointsProcessor::Process(
@ -91,7 +115,8 @@ void ProbabilityGridPointsProcessor::Process(
} }
PointsProcessor::FlushResult ProbabilityGridPointsProcessor::Flush() { PointsProcessor::FlushResult ProbabilityGridPointsProcessor::Flush() {
WriteGrid(probability_grid_, file_writer_.get()); WriteGrid(probability_grid_, draw_trajectories_, trajectories_,
file_writer_.get());
switch (next_->Flush()) { switch (next_->Flush()) {
case FlushResult::kRestartStream: case FlushResult::kRestartStream:
LOG(FATAL) << "ProbabilityGrid generation must be configured to occur " LOG(FATAL) << "ProbabilityGrid generation must be configured to occur "

View File

@ -7,6 +7,7 @@
#include "cartographer/io/file_writer.h" #include "cartographer/io/file_writer.h"
#include "cartographer/io/points_batch.h" #include "cartographer/io/points_batch.h"
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/mapping/proto/trajectory.pb.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping_2d/probability_grid.h"
#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h" #include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
#include "cartographer/mapping_2d/range_data_inserter.h" #include "cartographer/mapping_2d/range_data_inserter.h"
@ -22,17 +23,22 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
public: public:
constexpr static const char* kConfigurationFileActionName = constexpr static const char* kConfigurationFileActionName =
"write_probability_grid"; "write_probability_grid";
enum class DrawTrajectories { kNo, kYes };
ProbabilityGridPointsProcessor( ProbabilityGridPointsProcessor(
double resolution, double resolution,
const mapping_2d::proto::RangeDataInserterOptions& const mapping_2d::proto::RangeDataInserterOptions&
range_data_inserter_options, range_data_inserter_options,
std::unique_ptr<FileWriter> file_writer, PointsProcessor* next); const DrawTrajectories& draw_trajectories,
std::unique_ptr<FileWriter> file_writer,
const std::vector<mapping::proto::Trajectory>& trajectorios,
PointsProcessor* next);
ProbabilityGridPointsProcessor(const ProbabilityGridPointsProcessor&) = ProbabilityGridPointsProcessor(const ProbabilityGridPointsProcessor&) =
delete; delete;
ProbabilityGridPointsProcessor& operator=( ProbabilityGridPointsProcessor& operator=(
const ProbabilityGridPointsProcessor&) = delete; const ProbabilityGridPointsProcessor&) = delete;
static std::unique_ptr<ProbabilityGridPointsProcessor> FromDictionary( static std::unique_ptr<ProbabilityGridPointsProcessor> FromDictionary(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, FileWriterFactory file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next); common::LuaParameterDictionary* dictionary, PointsProcessor* next);
@ -42,8 +48,10 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
FlushResult Flush() override; FlushResult Flush() override;
private: private:
PointsProcessor* const next_; const DrawTrajectories draw_trajectories_;
const std::vector<mapping::proto::Trajectory> trajectories_;
std::unique_ptr<FileWriter> file_writer_; std::unique_ptr<FileWriter> file_writer_;
PointsProcessor* const next_;
mapping_2d::RangeDataInserter range_data_inserter_; mapping_2d::RangeDataInserter range_data_inserter_;
mapping_2d::ProbabilityGrid probability_grid_; mapping_2d::ProbabilityGrid probability_grid_;
}; };

View File

@ -23,6 +23,7 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/io/draw_trajectories.h"
#include "cartographer/io/image.h" #include "cartographer/io/image.h"
#include "cartographer/mapping/detect_floors.h" #include "cartographer/mapping/detect_floors.h"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping_3d/hybrid_grid.h"
@ -46,7 +47,7 @@ double Mix(const double a, const double b, const double t) {
return a * (1. - t) + t * b; return a * (1. - t) + t * b;
} }
// Write 'mat' as a pleasing-to-look-at PNG into 'filename' // Convert 'mat' into a pleasing-to-look-at image.
Image IntoImage(const PixelDataMatrix& mat) { Image IntoImage(const PixelDataMatrix& mat) {
Image image(mat.cols(), mat.rows()); Image image(mat.cols(), mat.rows());
float max = std::numeric_limits<float>::min(); float max = std::numeric_limits<float>::min();
@ -104,10 +105,14 @@ bool ContainedIn(const common::Time& time,
XRayPointsProcessor::XRayPointsProcessor( XRayPointsProcessor::XRayPointsProcessor(
const double voxel_size, const transform::Rigid3f& transform, const double voxel_size, const transform::Rigid3f& transform,
const std::vector<mapping::Floor>& floors, const string& output_filename, const std::vector<mapping::Floor>& floors,
const DrawTrajectories& draw_trajectories, const string& output_filename,
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, PointsProcessor* const next) FileWriterFactory file_writer_factory, PointsProcessor* const next)
: next_(next), : draw_trajectories_(draw_trajectories),
trajectories_(trajectories),
file_writer_factory_(file_writer_factory), file_writer_factory_(file_writer_factory),
next_(next),
floors_(floors), floors_(floors),
output_filename_(output_filename), output_filename_(output_filename),
transform_(transform) { transform_(transform) {
@ -118,21 +123,29 @@ XRayPointsProcessor::XRayPointsProcessor(
} }
std::unique_ptr<XRayPointsProcessor> XRayPointsProcessor::FromDictionary( std::unique_ptr<XRayPointsProcessor> XRayPointsProcessor::FromDictionary(
const mapping::proto::Trajectory& trajectory, const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, FileWriterFactory file_writer_factory,
common::LuaParameterDictionary* const dictionary, common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) { PointsProcessor* const next) {
std::vector<mapping::Floor> floors; std::vector<mapping::Floor> floors;
if (dictionary->HasKey("separate_floors") && const bool separate_floor = dictionary->HasKey("separate_floors") &&
dictionary->GetBool("separate_floors")) { dictionary->GetBool("separate_floors");
floors = mapping::DetectFloors(trajectory); const auto draw_trajectories = (!dictionary->HasKey("draw_trajectories") ||
dictionary->GetBool("draw_trajectories"))
? DrawTrajectories::kYes
: DrawTrajectories::kNo;
if (separate_floor) {
CHECK_EQ(trajectories.size(), 0)
<< "Can only detect floors with a single trajectory.";
floors = mapping::DetectFloors(trajectories.at(0));
} }
return common::make_unique<XRayPointsProcessor>( return common::make_unique<XRayPointsProcessor>(
dictionary->GetDouble("voxel_size"), dictionary->GetDouble("voxel_size"),
transform::FromDictionary(dictionary->GetDictionary("transform").get()) transform::FromDictionary(dictionary->GetDictionary("transform").get())
.cast<float>(), .cast<float>(),
floors, dictionary->GetString("filename"), file_writer_factory, next); floors, draw_trajectories, dictionary->GetString("filename"),
trajectories, file_writer_factory, next);
} }
void XRayPointsProcessor::WriteVoxels(const Aggregation& aggregation, void XRayPointsProcessor::WriteVoxels(const Aggregation& aggregation,
@ -166,9 +179,20 @@ void XRayPointsProcessor::WriteVoxels(const Aggregation& aggregation,
pixel_data.mean_b = column_data.sum_b / column_data.count; pixel_data.mean_b = column_data.sum_b / column_data.count;
++pixel_data.num_occupied_cells_in_column; ++pixel_data.num_occupied_cells_in_column;
} }
Image image = IntoImage(pixel_data_matrix);
// TODO(hrapp): Draw trajectories here. Image image = IntoImage(pixel_data_matrix);
if (draw_trajectories_ == DrawTrajectories::kYes) {
for (size_t i = 0; i < trajectories_.size(); ++i) {
DrawTrajectory(
trajectories_[i], GetColor(i),
[&voxel_index_to_pixel, &aggregation,
this](const transform::Rigid3d& pose) -> Eigen::Array2i {
return voxel_index_to_pixel(aggregation.voxels.GetCellIndex(
(transform_ * pose.cast<float>()).translation()));
},
image.GetCairoSurface().get());
}
}
image.WritePng(file_writer); image.WritePng(file_writer);
CHECK(file_writer->Close()); CHECK(file_writer->Close());

View File

@ -36,14 +36,16 @@ class XRayPointsProcessor : public PointsProcessor {
public: public:
constexpr static const char* kConfigurationFileActionName = constexpr static const char* kConfigurationFileActionName =
"write_xray_image"; "write_xray_image";
XRayPointsProcessor(double voxel_size, const transform::Rigid3f& transform, enum class DrawTrajectories { kNo, kYes };
const std::vector<mapping::Floor>& floors, XRayPointsProcessor(
const string& output_filename, double voxel_size, const transform::Rigid3f& transform,
FileWriterFactory file_writer_factory, const std::vector<mapping::Floor>& floors,
PointsProcessor* next); const DrawTrajectories& draw_trajectories, const string& output_filename,
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, PointsProcessor* next);
static std::unique_ptr<XRayPointsProcessor> FromDictionary( static std::unique_ptr<XRayPointsProcessor> FromDictionary(
const mapping::proto::Trajectory& trajectory, const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory, FileWriterFactory file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next); common::LuaParameterDictionary* dictionary, PointsProcessor* next);
@ -71,8 +73,10 @@ class XRayPointsProcessor : public PointsProcessor {
FileWriter* const file_writer); FileWriter* const file_writer);
void Insert(const PointsBatch& batch, Aggregation* aggregation); void Insert(const PointsBatch& batch, Aggregation* aggregation);
PointsProcessor* const next_; const DrawTrajectories draw_trajectories_;
const std::vector<mapping::proto::Trajectory> trajectories_;
FileWriterFactory file_writer_factory_; FileWriterFactory file_writer_factory_;
PointsProcessor* const next_;
// If empty, we do not separate into floors. // If empty, we do not separate into floors.
std::vector<mapping::Floor> floors_; std::vector<mapping::Floor> floors_;