fixed_ratio_sampling_points_processor.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
18 #define CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
19 
20 #include <memory>
21 
25 
26 namespace cartographer {
27 namespace io {
28 
29 // Only let a fixed 'sampling_ratio' of points through. A 'sampling_ratio' of 1.
30 // makes this filter a no-op.
32  public:
33  constexpr static const char* kConfigurationFileActionName =
34  "fixed_ratio_sampler";
35 
36  FixedRatioSamplingPointsProcessor(double sampling_ratio,
37  PointsProcessor* next);
38 
39  static std::unique_ptr<FixedRatioSamplingPointsProcessor> FromDictionary(
41 
43 
45  delete;
47  const FixedRatioSamplingPointsProcessor&) = delete;
48 
49  void Process(std::unique_ptr<PointsBatch> batch) override;
50  FlushResult Flush() override;
51 
52  private:
53  const double sampling_ratio_;
55  std::unique_ptr<common::FixedRatioSampler> sampler_;
56 };
57 
58 } // namespace io
59 } // namespace cartographer
60 
61 #endif // CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
void Process(std::unique_ptr< PointsBatch > batch) override
FixedRatioSamplingPointsProcessor & operator=(const FixedRatioSamplingPointsProcessor &)=delete
static std::unique_ptr< FixedRatioSamplingPointsProcessor > FromDictionary(common::LuaParameterDictionary *dictionary, PointsProcessor *next)
FixedRatioSamplingPointsProcessor(double sampling_ratio, PointsProcessor *next)


cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:58