54 lines
1.6 KiB
C++
Executable File
54 lines
1.6 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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#include "cartographer/io/points_batch.h"
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namespace cartographer {
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namespace io {
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void RemovePoints(absl::flat_hash_set<int> to_remove, PointsBatch* batch) {
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const int new_num_points = batch->points.size() - to_remove.size();
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std::vector<sensor::RangefinderPoint> points;
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points.reserve(new_num_points);
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std::vector<float> intensities;
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if (!batch->intensities.empty()) {
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intensities.reserve(new_num_points);
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}
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std::vector<FloatColor> colors;
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if (!batch->colors.empty()) {
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colors.reserve(new_num_points);
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}
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for (size_t i = 0; i < batch->points.size(); ++i) {
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if (to_remove.count(i) == 1) {
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continue;
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}
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points.push_back(batch->points[i]);
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if (!batch->colors.empty()) {
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colors.push_back(batch->colors[i]);
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}
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if (!batch->intensities.empty()) {
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intensities.push_back(batch->intensities[i]);
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}
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}
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batch->points = std::move(points);
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batch->intensities = std::move(intensities);
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batch->colors = std::move(colors);
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}
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} // namespace io
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} // namespace cartographer
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