70 lines
2.4 KiB
C++
70 lines
2.4 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/io/fixed_ratio_sampling_points_processor.h"
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#include "Eigen/Core"
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#include "cartographer/common/make_unique.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace io {
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std::unique_ptr<FixedRatioSamplingPointsProcessor>
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FixedRatioSamplingPointsProcessor::FromDictionary(
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common::LuaParameterDictionary* const dictionary,
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PointsProcessor* const next) {
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const double sampling_ratio(dictionary->GetDouble("sampling_ratio"));
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CHECK_LT(0., sampling_ratio) << "Sampling ratio <= 0 makes no sense.";
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CHECK_LT(sampling_ratio, 1.) << "Sampling ratio >= 1 makes no sense.";
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return common::make_unique<FixedRatioSamplingPointsProcessor>(sampling_ratio,
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next);
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}
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FixedRatioSamplingPointsProcessor::FixedRatioSamplingPointsProcessor(
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const double sampling_ratio, PointsProcessor* next)
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: sampling_ratio_(sampling_ratio),
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next_(next),
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sampler_(new common::FixedRatioSampler(sampling_ratio_)) {}
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void FixedRatioSamplingPointsProcessor::Process(
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std::unique_ptr<PointsBatch> batch) {
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std::vector<int> to_remove;
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for (size_t i = 0; i < batch->points.size(); ++i) {
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if (!sampler_->Pulse()) {
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to_remove.push_back(i);
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}
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}
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RemovePoints(to_remove, batch.get());
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next_->Process(std::move(batch));
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}
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PointsProcessor::FlushResult FixedRatioSamplingPointsProcessor::Flush() {
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switch (next_->Flush()) {
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case PointsProcessor::FlushResult::kFinished:
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return PointsProcessor::FlushResult::kFinished;
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case PointsProcessor::FlushResult::kRestartStream:
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sampler_ =
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common::make_unique<common::FixedRatioSampler>(sampling_ratio_);
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return PointsProcessor::FlushResult::kRestartStream;
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}
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LOG(FATAL);
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}
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} // namespace io
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} // namespace cartographer
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