pcd_exporter.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/

#pragma once

#include <string>

#include "modules/drivers/proto/pointcloud.pb.h"

namespace apollo {
namespace localization {
namespace msf {

class PCDExporter {
 public:
  explicit PCDExporter(const std::string &pcd_folder);
  ~PCDExporter();

  void CompensatedPcdCallback(const std::string &msg);

 private:
  void WritePcdFile(const std::string &filename,
                    const drivers::PointCloud &msg);

  std::string pcd_folder_;
  FILE *stamp_file_handle_;
};

}  // namespace msf
}  // namespace localization
}  // namespace apollo