00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_ 00018 #define CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_ 00019 00020 #include <memory> 00021 00022 #include "cartographer/common/fixed_ratio_sampler.h" 00023 #include "cartographer/common/lua_parameter_dictionary.h" 00024 #include "cartographer/io/points_processor.h" 00025 00026 namespace cartographer { 00027 namespace io { 00028 00029 // Only let a fixed 'sampling_ratio' of points through. A 'sampling_ratio' of 1. 00030 // makes this filter a no-op. 00031 class FixedRatioSamplingPointsProcessor : public PointsProcessor { 00032 public: 00033 constexpr static const char* kConfigurationFileActionName = 00034 "fixed_ratio_sampler"; 00035 00036 FixedRatioSamplingPointsProcessor(double sampling_ratio, 00037 PointsProcessor* next); 00038 00039 static std::unique_ptr<FixedRatioSamplingPointsProcessor> FromDictionary( 00040 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00041 00042 ~FixedRatioSamplingPointsProcessor() override{}; 00043 00044 FixedRatioSamplingPointsProcessor(const FixedRatioSamplingPointsProcessor&) = 00045 delete; 00046 FixedRatioSamplingPointsProcessor& operator=( 00047 const FixedRatioSamplingPointsProcessor&) = delete; 00048 00049 void Process(std::unique_ptr<PointsBatch> batch) override; 00050 FlushResult Flush() override; 00051 00052 private: 00053 const double sampling_ratio_; 00054 PointsProcessor* const next_; 00055 std::unique_ptr<common::FixedRatioSampler> sampler_; 00056 }; 00057 00058 } // namespace io 00059 } // namespace cartographer 00060 00061 #endif // CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_