90 lines
3.1 KiB
C
90 lines
3.1 KiB
C
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/*
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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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#ifndef CARTOGRAPHER_IO_OUTLIER_REMOVING_POINTS_PROCESSOR_H_
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#define CARTOGRAPHER_IO_OUTLIER_REMOVING_POINTS_PROCESSOR_H_
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/io/points_processor.h"
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#include "cartographer/mapping/3d/hybrid_grid.h"
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namespace cartographer {
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namespace io {
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// Voxel filters the data and only passes on points that we believe are on
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// non-moving objects.
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class OutlierRemovingPointsProcessor : public PointsProcessor {
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public:
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constexpr static const char* kConfigurationFileActionName =
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"voxel_filter_and_remove_moving_objects";
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OutlierRemovingPointsProcessor(double voxel_size, double miss_per_hit_limit,
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PointsProcessor* next);
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static std::unique_ptr<OutlierRemovingPointsProcessor> FromDictionary(
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common::LuaParameterDictionary* dictionary, PointsProcessor* next);
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~OutlierRemovingPointsProcessor() override {}
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OutlierRemovingPointsProcessor(const OutlierRemovingPointsProcessor&) =
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delete;
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OutlierRemovingPointsProcessor& operator=(
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const OutlierRemovingPointsProcessor&) = delete;
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void Process(std::unique_ptr<PointsBatch> batch) override;
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FlushResult Flush() override;
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private:
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// To reduce memory consumption by not having to keep all rays in memory, we
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// filter outliers in three phases each going over all data: First we compute
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// all voxels containing any hits, then we compute the rays passing through
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// each of these voxels, and finally we output all hits in voxels that are
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// considered obstructed.
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struct VoxelData {
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int hits = 0;
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int rays = 0;
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};
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enum class State {
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kPhase1,
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kPhase2,
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kPhase3,
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};
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// First phase counts the number of hits per voxel.
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void ProcessInPhaseOne(const PointsBatch& batch);
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// Second phase counts how many rays pass through each voxel. This is only
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// done for voxels that contain hits. This is to reduce memory consumption by
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// not adding data to free voxels.
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void ProcessInPhaseTwo(const PointsBatch& batch);
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// Third phase produces the output containing all inliers. We consider each
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// hit an inlier if it is inside a voxel that has a sufficiently high
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// hit-to-ray ratio.
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void ProcessInPhaseThree(std::unique_ptr<PointsBatch> batch);
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const double voxel_size_;
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const double miss_per_hit_limit_;
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PointsProcessor* const next_;
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State state_;
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mapping::HybridGridBase<VoxelData> voxels_;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_OUTLIER_REMOVING_POINTS_PROCESSOR_H_
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