56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <fstream>
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/points_processor.h"
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namespace cartographer {
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namespace io {
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// Streams a PCD file to disk. The header is written in 'Flush'.
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class PcdWritingPointsProcessor : public PointsProcessor {
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public:
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constexpr static const char* kConfigurationFileActionName = "write_pcd";
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PcdWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer,
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PointsProcessor* next);
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static std::unique_ptr<PcdWritingPointsProcessor> FromDictionary(
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FileWriterFactory file_writer_factory,
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common::LuaParameterDictionary* dictionary, PointsProcessor* next);
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~PcdWritingPointsProcessor() override {}
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PcdWritingPointsProcessor(const PcdWritingPointsProcessor&) = delete;
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PcdWritingPointsProcessor& operator=(const PcdWritingPointsProcessor&) =
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delete;
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void Process(std::unique_ptr<PointsBatch> batch) override;
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FlushResult Flush() override;
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private:
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PointsProcessor* const next_;
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int64 num_points_;
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bool has_colors_;
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std::unique_ptr<FileWriter> file_writer_;
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};
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} // namespace io
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} // namespace cartographer
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