00001 /* 00002 * Copyright 2017 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_FRAME_ID_FILTERING_POINTS_PROCESSOR_H_ 00018 #define CARTOGRAPHER_IO_FRAME_ID_FILTERING_POINTS_PROCESSOR_H_ 00019 00020 #include "absl/container/flat_hash_set.h" 00021 #include "cartographer/common/lua_parameter_dictionary.h" 00022 #include "cartographer/io/points_processor.h" 00023 00024 namespace cartographer { 00025 namespace io { 00026 00027 // Filters all points with blacklisted frame id or a non-whitelisted frame id. 00028 // Note that you can either specify the whitelist or the blacklist, but not both 00029 // at the same time. 00030 class FrameIdFilteringPointsProcessor : public PointsProcessor { 00031 public: 00032 constexpr static const char* kConfigurationFileActionName = "frame_id_filter"; 00033 FrameIdFilteringPointsProcessor( 00034 const absl::flat_hash_set<std::string>& keep_frame_ids, 00035 const absl::flat_hash_set<std::string>& drop_frame_ids, 00036 PointsProcessor* next); 00037 static std::unique_ptr<FrameIdFilteringPointsProcessor> FromDictionary( 00038 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00039 ~FrameIdFilteringPointsProcessor() override {} 00040 00041 FrameIdFilteringPointsProcessor(const FrameIdFilteringPointsProcessor&) = 00042 delete; 00043 FrameIdFilteringPointsProcessor& operator=( 00044 const FrameIdFilteringPointsProcessor&) = delete; 00045 00046 void Process(std::unique_ptr<PointsBatch> batch) override; 00047 FlushResult Flush() override; 00048 00049 private: 00050 const absl::flat_hash_set<std::string> keep_frame_ids_; 00051 const absl::flat_hash_set<std::string> drop_frame_ids_; 00052 PointsProcessor* const next_; 00053 }; 00054 00055 } // namespace io 00056 } // namespace cartographer 00057 00058 #endif // CARTOGRAPHER_IO_FRAME_ID_FILTERING_POINTS_PROCESSOR_H_