Adds a fixed sampling points processor. (#96)

master
Holger Rapp 2016-10-25 15:37:47 +02:00 committed by GitHub
parent 46f8883d6a
commit 2f42c990f6
4 changed files with 147 additions and 0 deletions

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@ -4,6 +4,20 @@ google_library(io_cairo_types
cairo_types.h cairo_types.h
) )
google_library(io_fixed_ratio_sampling_points_processor
USES_EIGEN
USES_GLOG
SRCS
fixed_ratio_sampling_points_processor.cc
HDRS
fixed_ratio_sampling_points_processor.h
DEPENDS
common_fixed_ratio_sampler
common_lua_parameter_dictionary
common_make_unique
io_points_processor
)
google_library(io_min_max_range_filtering_points_processor google_library(io_min_max_range_filtering_points_processor
SRCS SRCS
min_max_range_filtering_points_processor.cc min_max_range_filtering_points_processor.cc
@ -74,6 +88,7 @@ google_library(io_points_processor_pipeline_builder
DEPENDS DEPENDS
common_lua_parameter_dictionary common_lua_parameter_dictionary
common_make_unique common_make_unique
io_fixed_ratio_sampling_points_processor
io_min_max_range_filtering_points_processor io_min_max_range_filtering_points_processor
io_null_points_processor io_null_points_processor
io_pcd_writing_points_processor io_pcd_writing_points_processor

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@ -0,0 +1,69 @@
/*
* Copyright 2016 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/fixed_ratio_sampling_points_processor.h"
#include "Eigen/Core"
#include "cartographer/common/make_unique.h"
#include "glog/logging.h"
namespace cartographer {
namespace io {
std::unique_ptr<FixedRatioSamplingPointsProcessor>
FixedRatioSamplingPointsProcessor::FromDictionary(
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) {
const double sampling_ratio(dictionary->GetDouble("sampling_ratio"));
CHECK_LT(0., sampling_ratio) << "Sampling ratio <= 0 makes no sense.";
CHECK_LT(sampling_ratio, 1.) << "Sampling ratio >= 1 makes no sense.";
return common::make_unique<FixedRatioSamplingPointsProcessor>(sampling_ratio,
next);
}
FixedRatioSamplingPointsProcessor::FixedRatioSamplingPointsProcessor(
const double sampling_ratio, PointsProcessor* next)
: sampling_ratio_(sampling_ratio),
next_(next),
sampler_(new common::FixedRatioSampler(sampling_ratio_)) {}
void FixedRatioSamplingPointsProcessor::Process(
std::unique_ptr<PointsBatch> batch) {
std::vector<int> to_remove;
for (size_t i = 0; i < batch->points.size(); ++i) {
if (!sampler_->Pulse()) {
to_remove.push_back(i);
}
}
RemovePoints(to_remove, batch.get());
next_->Process(std::move(batch));
}
PointsProcessor::FlushResult FixedRatioSamplingPointsProcessor::Flush() {
switch (next_->Flush()) {
case PointsProcessor::FlushResult::kFinished:
return PointsProcessor::FlushResult::kFinished;
case PointsProcessor::FlushResult::kRestartStream:
sampler_ =
common::make_unique<common::FixedRatioSampler>(sampling_ratio_);
return PointsProcessor::FlushResult::kRestartStream;
}
LOG(FATAL);
}
} // namespace io
} // namespace cartographer

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@ -0,0 +1,61 @@
/*
* Copyright 2016 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_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
#define CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
#include <memory>
#include "cartographer/common/fixed_ratio_sampler.h"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/io/points_processor.h"
namespace cartographer {
namespace io {
// Only let a fixed 'sampling_ratio' of points through. A 'sampling_ratio' of 1.
// makes this filter a no-op.
class FixedRatioSamplingPointsProcessor : public PointsProcessor {
public:
constexpr static const char* kConfigurationFileActionName =
"fixed_ratio_sampler";
FixedRatioSamplingPointsProcessor(double sampling_ratio,
PointsProcessor* next);
static std::unique_ptr<FixedRatioSamplingPointsProcessor> FromDictionary(
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
~FixedRatioSamplingPointsProcessor() override{};
FixedRatioSamplingPointsProcessor(const FixedRatioSamplingPointsProcessor&) =
delete;
FixedRatioSamplingPointsProcessor& operator=(
const FixedRatioSamplingPointsProcessor&) = delete;
void Process(std::unique_ptr<PointsBatch> batch) override;
FlushResult Flush() override;
private:
const double sampling_ratio_;
PointsProcessor* const next_;
std::unique_ptr<common::FixedRatioSampler> sampler_;
};
} // namespace io
} // namespace cartographer
#endif // CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_

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@ -17,6 +17,7 @@
#include "cartographer/io/points_processor_pipeline_builder.h" #include "cartographer/io/points_processor_pipeline_builder.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/io/fixed_ratio_sampling_points_processor.h"
#include "cartographer/io/min_max_range_filtering_points_processor.h" #include "cartographer/io/min_max_range_filtering_points_processor.h"
#include "cartographer/io/null_points_processor.h" #include "cartographer/io/null_points_processor.h"
#include "cartographer/io/pcd_writing_points_processor.h" #include "cartographer/io/pcd_writing_points_processor.h"
@ -28,6 +29,7 @@ namespace cartographer {
namespace io { namespace io {
PointsProcessorPipelineBuilder::PointsProcessorPipelineBuilder() { PointsProcessorPipelineBuilder::PointsProcessorPipelineBuilder() {
RegisterNonStatic<FixedRatioSamplingPointsProcessor>();
RegisterNonStatic<MinMaxRangeFiteringPointsProcessor>(); RegisterNonStatic<MinMaxRangeFiteringPointsProcessor>();
RegisterNonStatic<PcdWritingPointsProcessor>(); RegisterNonStatic<PcdWritingPointsProcessor>();
RegisterNonStatic<PlyWritingPointsProcessor>(); RegisterNonStatic<PlyWritingPointsProcessor>();