Add FrameIdFilteringPointsProcessor (#566)

* Add FrameIdFilteringPointsProcessor

Implements a PointProcessor that filters PointBatches (either by
whitelisting or blacklisting) the frame_id.
master
Christoph Schütte 2017-10-05 17:33:51 +02:00 committed by GitHub
parent 0053b30cc8
commit 2862e12506
3 changed files with 132 additions and 0 deletions

View File

@ -0,0 +1,70 @@
/*
* Copyright 2017 The Cartographer Authors
*
* 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.
*/
#include "cartographer/io/frame_id_filtering_points_processor.h"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/io/points_batch.h"
#include "glog/logging.h"
namespace cartographer {
namespace io {
std::unique_ptr<FrameIdFilteringPointsProcessor>
FrameIdFilteringPointsProcessor::FromDictionary(
common::LuaParameterDictionary* dictionary,
PointsProcessor* next) {
std::vector<string> keep_frames, drop_frames;
if (dictionary->HasKey("keep_frames")) {
keep_frames =
dictionary->GetDictionary("keep_frames")->GetArrayValuesAsStrings();
}
if (dictionary->HasKey("drop_frames")) {
drop_frames =
dictionary->GetDictionary("drop_frames")->GetArrayValuesAsStrings();
}
return common::make_unique<FrameIdFilteringPointsProcessor>(
std::unordered_set<string>(keep_frames.begin(), keep_frames.end()),
std::unordered_set<string>(drop_frames.begin(), drop_frames.end()), next);
}
FrameIdFilteringPointsProcessor::FrameIdFilteringPointsProcessor(
const std::unordered_set<string>& keep_frame_ids,
const std::unordered_set<string>& drop_frame_ids,
PointsProcessor* next)
: keep_frame_ids_(keep_frame_ids),
drop_frame_ids_(drop_frame_ids),
next_(next) {
CHECK_NE(keep_frame_ids.empty(), drop_frame_ids.empty())
<< "You have to specify exactly one of the `keep_frames` property or the "
<< "`drop_frames` property, but not both at the same time.";
}
void FrameIdFilteringPointsProcessor::Process(
std::unique_ptr<PointsBatch> batch) {
if ((!keep_frame_ids_.empty() && keep_frame_ids_.count(batch->frame_id)) ||
(!drop_frame_ids_.empty() && !drop_frame_ids_.count(batch->frame_id))) {
next_->Process(std::move(batch));
}
}
PointsProcessor::FlushResult FrameIdFilteringPointsProcessor::Flush() {
return next_->Flush();
}
} // namespace io
} // namespace cartographer

View File

@ -0,0 +1,60 @@
/*
* Copyright 2017 The Cartographer Authors
*
* 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.
*/
#ifndef CARTOGRAPHER_IO_FRAME_ID_FILTERING_POINTS_PROCESSOR_H_
#define CARTOGRAPHER_IO_FRAME_ID_FILTERING_POINTS_PROCESSOR_H_
#include <unordered_set>
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/io/points_processor.h"
namespace cartographer {
namespace io {
// Filters all points with blacklisted frame id or a non-whitelisted frame id.
// Note that you can either specify the whitelist or the blacklist, but not both
// at the same time.
class FrameIdFilteringPointsProcessor : public PointsProcessor {
public:
constexpr static const char* kConfigurationFileActionName = "frame_id_filter";
FrameIdFilteringPointsProcessor(
const std::unordered_set<string>& keep_frame_ids,
const std::unordered_set<string>& drop_frame_ids,
PointsProcessor* next);
static std::unique_ptr<FrameIdFilteringPointsProcessor> FromDictionary(
common::LuaParameterDictionary* dictionary,
PointsProcessor* next);
~FrameIdFilteringPointsProcessor() override {}
FrameIdFilteringPointsProcessor(const FrameIdFilteringPointsProcessor&) =
delete;
FrameIdFilteringPointsProcessor& operator=(
const FrameIdFilteringPointsProcessor&) = delete;
void Process(std::unique_ptr<PointsBatch> batch) override;
FlushResult Flush() override;
private:
const std::unordered_set<string> keep_frame_ids_;
const std::unordered_set<string> drop_frame_ids_;
PointsProcessor* const next_;
};
} // namespace io
} // namespace cartographer
#endif // CARTOGRAPHER_IO_FRAME_ID_FILTERING_POINTS_PROCESSOR_H_

View File

@ -19,6 +19,7 @@
#include "cartographer/common/make_unique.h"
#include "cartographer/io/coloring_points_processor.h"
#include "cartographer/io/counting_points_processor.h"
#include "cartographer/io/frame_id_filtering_points_processor.h"
#include "cartographer/io/fixed_ratio_sampling_points_processor.h"
#include "cartographer/io/hybrid_grid_points_processor.h"
#include "cartographer/io/intensity_to_color_points_processor.h"
@ -81,6 +82,7 @@ void RegisterBuiltInPointsProcessors(
PointsProcessorPipelineBuilder* builder) {
RegisterPlainPointsProcessor<CountingPointsProcessor>(builder);
RegisterPlainPointsProcessor<FixedRatioSamplingPointsProcessor>(builder);
RegisterPlainPointsProcessor<FrameIdFilteringPointsProcessor>(builder);
RegisterPlainPointsProcessor<MinMaxRangeFiteringPointsProcessor>(builder);
RegisterPlainPointsProcessor<OutlierRemovingPointsProcessor>(builder);
RegisterPlainPointsProcessor<ColoringPointsProcessor>(builder);