cartographer/cartographer/io/ply_writing_points_processor.h

54 lines
1.8 KiB
C++

/*
* 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/common/lua_parameter_dictionary.h"
#include "cartographer/io/file_writer.h"
#include "cartographer/io/points_processor.h"
namespace cartographer {
namespace io {
// Streams a PLY file to disk. The header is written in 'Flush'.
class PlyWritingPointsProcessor : public PointsProcessor {
public:
constexpr static const char* kConfigurationFileActionName = "write_ply";
PlyWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer,
PointsProcessor* next);
static std::unique_ptr<PlyWritingPointsProcessor> FromDictionary(
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
~PlyWritingPointsProcessor() override {}
PlyWritingPointsProcessor(const PlyWritingPointsProcessor&) = delete;
PlyWritingPointsProcessor& operator=(const PlyWritingPointsProcessor&) =
delete;
void Process(std::unique_ptr<PointsBatch> batch) override;
FlushResult Flush() override;
private:
PointsProcessor* const next_;
int64 num_points_;
bool has_colors_;
std::unique_ptr<FileWriter> file_;
};
} // namespace io
} // namespace cartographer