132 lines
4.2 KiB
C++
132 lines
4.2 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 "cartographer/io/ply_writing_points_processor.h"
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#include <iomanip>
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#include <sstream>
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#include <string>
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/io/points_batch.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace io {
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namespace {
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// Writes the PLY header claiming 'num_points' will follow it into
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// 'output_file'.
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void WriteBinaryPlyHeader(const bool has_color, const int64 num_points,
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FileWriter* const file_writer) {
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string color_header = !has_color ? ""
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: "property uchar red\n"
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"property uchar green\n"
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"property uchar blue\n";
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std::ostringstream stream;
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stream << "ply\n"
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<< "format binary_little_endian 1.0\n"
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<< "comment generated by Cartographer\n"
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<< "element vertex " << std::setw(15) << std::setfill('0')
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<< num_points << "\n"
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<< "property float x\n"
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<< "property float y\n"
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<< "property float z\n"
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<< color_header << "end_header\n";
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const string out = stream.str();
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CHECK(file_writer->WriteHeader(out.data(), out.size()));
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}
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void WriteBinaryPlyPointCoordinate(const Eigen::Vector3f& point,
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FileWriter* const file_writer) {
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char buffer[12];
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memcpy(buffer, &point[0], sizeof(float));
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memcpy(buffer + 4, &point[1], sizeof(float));
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memcpy(buffer + 8, &point[2], sizeof(float));
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CHECK(file_writer->Write(buffer, 12));
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}
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void WriteBinaryPlyPointColor(const Color& color,
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FileWriter* const file_writer) {
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CHECK(file_writer->Write(reinterpret_cast<const char*>(color.data()),
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color.size()));
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}
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} // namespace
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std::unique_ptr<PlyWritingPointsProcessor>
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PlyWritingPointsProcessor::FromDictionary(
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FileWriterFactory file_writer_factory,
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common::LuaParameterDictionary* const dictionary,
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PointsProcessor* const next) {
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return common::make_unique<PlyWritingPointsProcessor>(
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file_writer_factory(dictionary->GetString("filename")), next);
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}
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PlyWritingPointsProcessor::PlyWritingPointsProcessor(
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std::unique_ptr<FileWriter> file_writer, PointsProcessor* const next)
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: next_(next),
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num_points_(0),
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has_colors_(false),
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file_(std::move(file_writer)) {}
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PointsProcessor::FlushResult PlyWritingPointsProcessor::Flush() {
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WriteBinaryPlyHeader(has_colors_, num_points_, file_.get());
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CHECK(file_->Close()) << "Closing PLY file_writer failed.";
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switch (next_->Flush()) {
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case FlushResult::kFinished:
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return FlushResult::kFinished;
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case FlushResult::kRestartStream:
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LOG(FATAL) << "PLY generation must be configured to occur after any "
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"stages that require multiple passes.";
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}
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LOG(FATAL);
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}
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void PlyWritingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
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if (batch->points.empty()) {
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next_->Process(std::move(batch));
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return;
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}
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if (num_points_ == 0) {
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has_colors_ = !batch->colors.empty();
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WriteBinaryPlyHeader(has_colors_, 0, file_.get());
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}
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if (has_colors_) {
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CHECK_EQ(batch->points.size(), batch->colors.size())
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<< "First PointsBatch had colors, but encountered one without. "
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"frame_id: "
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<< batch->frame_id;
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}
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for (size_t i = 0; i < batch->points.size(); ++i) {
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WriteBinaryPlyPointCoordinate(batch->points[i], file_.get());
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if (has_colors_) {
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WriteBinaryPlyPointColor(batch->colors[i], file_.get());
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}
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++num_points_;
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}
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next_->Process(std::move(batch));
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}
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} // namespace io
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} // namespace cartographer
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