cartographer源码分析(28)-io-points_processor.h

源码可在https://github.com/learnmoreonce/SLAM 下载

文件:io/points_processor.h#ifndef CARTOGRAPHER_IO_POINTS_PROCESSOR_H_#define CARTOGRAPHER_IO_POINTS_PROCESSOR_H_#include <memory>#include "cartographer/io/points_batch.h"namespace cartographer {namespace io {/*PointsProcessor 点云虚基类,提供一种批量处理points的抽象接口,不可拷贝/赋值2个抽象接口:1),Process()负责对PointsBatch进行处理2),Flush()刷新.在assets_writer_backpack_2d.lua文件中有各个pipeline的处理流程.*/// A processor in a pipeline. It processes a 'points_batch' and hands it to the// next processor in the pipeline.class PointsProcessor { public:  enum class FlushResult {    kRestartStream,    kFinished,  };  PointsProcessor() {}  virtual ~PointsProcessor() {} //必须为虚函数,不然子类无法正确析构.  PointsProcessor(const PointsProcessor&) = delete;  PointsProcessor& operator=(const PointsProcessor&) = delete;  // Receive a 'points_batch', process it and pass it on.  virtual void Process(std::unique_ptr<PointsBatch> points_batch) = 0;//纯虚函数  // Some implementations will perform expensive computations and others that do  // multiple passes over the data might ask for restarting the stream.  virtual FlushResult Flush() = 0;};}  // namespace io}  // namespace cartographer#endif  // CARTOGRAPHER_IO_POINTS_PROCESSOR_H_

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* https://zhuanlan.zhihu.com/learnmoreonce
* http://blog.csdn.net/learnmoreonce
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