62 lines
2.1 KiB
C++
Executable File
62 lines
2.1 KiB
C++
Executable File
/*
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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_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
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#define CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
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#include <memory>
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#include "cartographer/common/fixed_ratio_sampler.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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namespace cartographer {
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namespace io {
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// Only let a fixed 'sampling_ratio' of points through. A 'sampling_ratio' of 1.
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// makes this filter a no-op.
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class FixedRatioSamplingPointsProcessor : public PointsProcessor {
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public:
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constexpr static const char* kConfigurationFileActionName =
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"fixed_ratio_sampler";
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FixedRatioSamplingPointsProcessor(double sampling_ratio,
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PointsProcessor* next);
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static std::unique_ptr<FixedRatioSamplingPointsProcessor> FromDictionary(
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common::LuaParameterDictionary* dictionary, PointsProcessor* next);
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~FixedRatioSamplingPointsProcessor() override{};
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FixedRatioSamplingPointsProcessor(const FixedRatioSamplingPointsProcessor&) =
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delete;
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FixedRatioSamplingPointsProcessor& operator=(
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const FixedRatioSamplingPointsProcessor&) = 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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const double sampling_ratio_;
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PointsProcessor* const next_;
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std::unique_ptr<common::FixedRatioSampler> sampler_;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
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