63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
#ifndef CARTOGRAPHER_IO_PROBABILITY_GRID_POINTS_PROCESSOR_H_
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#define CARTOGRAPHER_IO_PROBABILITY_GRID_POINTS_PROCESSOR_H_
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#include <memory>
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#include <string>
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/points_batch.h"
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#include "cartographer/io/points_processor.h"
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#include "cartographer/mapping/proto/trajectory.pb.h"
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#include "cartographer/mapping_2d/probability_grid.h"
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#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
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#include "cartographer/mapping_2d/range_data_inserter.h"
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namespace cartographer {
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namespace io {
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// Creates a probability grid with the specified 'resolution'. As all points are
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// projected into the x-y plane the z component of the data is ignored.
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// 'range_data_inserter' options are used to configure the range data ray
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// tracing through the probability grid.
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class ProbabilityGridPointsProcessor : public PointsProcessor {
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public:
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constexpr static const char* kConfigurationFileActionName =
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"write_probability_grid";
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enum class DrawTrajectories { kNo, kYes };
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ProbabilityGridPointsProcessor(
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double resolution,
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const mapping_2d::proto::RangeDataInserterOptions&
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range_data_inserter_options,
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const DrawTrajectories& draw_trajectories,
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std::unique_ptr<FileWriter> file_writer,
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const std::vector<mapping::proto::Trajectory>& trajectorios,
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PointsProcessor* next);
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ProbabilityGridPointsProcessor(const ProbabilityGridPointsProcessor&) =
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delete;
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ProbabilityGridPointsProcessor& operator=(
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const ProbabilityGridPointsProcessor&) = delete;
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static std::unique_ptr<ProbabilityGridPointsProcessor> FromDictionary(
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const std::vector<mapping::proto::Trajectory>& trajectories,
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const FileWriterFactory& file_writer_factory,
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common::LuaParameterDictionary* dictionary, PointsProcessor* next);
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~ProbabilityGridPointsProcessor() override {}
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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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const DrawTrajectories draw_trajectories_;
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const std::vector<mapping::proto::Trajectory> trajectories_;
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std::unique_ptr<FileWriter> file_writer_;
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PointsProcessor* const next_;
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mapping_2d::RangeDataInserter range_data_inserter_;
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mapping_2d::ProbabilityGrid probability_grid_;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_PROBABILITY_GRID_POINTS_PROCESSOR_H_
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