cartographer源码分析(29)-io-min_max_range_filtering_points_processor.h

源码可在https://github.com/learnmoreonce/SLAM 下载

文件:min_max_range_filtering_points_processor.h#ifndef CARTOGRAPHER_IO_MIN_MAX_RANGE_FILTERING_POINTS_PROCESSOR_H_#define CARTOGRAPHER_IO_MIN_MAX_RANGE_FILTERING_POINTS_PROCESSOR_H_#include <memory>#include "cartographer/common/lua_parameter_dictionary.h"#include "cartographer/io/points_processor.h"namespace cartographer {namespace io {/*PointsProcessor的第一个子类(1).功能:继承自PointsProcessor点云虚基类.距离过滤器,L2 距离不在Min-Max范围内的都过滤掉.数据成员:1),min_range_ 最小范围2),max_range_ 最大范围3),PointsProcessor* const next_:完成本轮Processor,接下来进行下一次Processor.*/// Filters all points that are farther away from their 'origin' as 'max_range'// or closer than 'min_range'.class MinMaxRangeFiteringPointsProcessor : public PointsProcessor { public:  constexpr static const char* kConfigurationFileActionName =      "min_max_range_filter";  MinMaxRangeFiteringPointsProcessor(double min_range, double max_range,                                     PointsProcessor* next);  //从.lua文件加载min_range和max_range,如:0-30   static std::unique_ptr<MinMaxRangeFiteringPointsProcessor> FromDictionary(      common::LuaParameterDictionary* dictionary, PointsProcessor* next);  ~MinMaxRangeFiteringPointsProcessor() override {}//覆盖  MinMaxRangeFiteringPointsProcessor(      const MinMaxRangeFiteringPointsProcessor&) = delete;  MinMaxRangeFiteringPointsProcessor& operator=(      const MinMaxRangeFiteringPointsProcessor&) = delete;//点云处理,删除[min,max]以外的point，并把数据传递到下一轮Processor处理。  void Process(std::unique_ptr<PointsBatch> batch) override;  FlushResult Flush() override;  //调用next_->Flush();父类调用Flush(),但在运行时才会决定是否调用子类的Flush() private:  const double min_range_;  const double max_range_;  PointsProcessor* const next_;};}  // namespace io}  // namespace cartographer#endif  // CARTOGRAPHER_IO_MIN_MAX_RANGE_FILTERING_POINTS_PROCESSOR_H_

min_max_range_filtering_points_processor.cc#include "cartographer/io/min_max_range_filtering_points_processor.h"#include "cartographer/common/lua_parameter_dictionary.h"#include "cartographer/common/make_unique.h"#include "cartographer/io/points_batch.h"namespace cartographer {namespace io {//从.lua文件加载min_range和max_range,如:0-30std::unique_ptr<MinMaxRangeFiteringPointsProcessor>MinMaxRangeFiteringPointsProcessor::FromDictionary(    common::LuaParameterDictionary* const dictionary,    PointsProcessor* const next) {  return common::make_unique<MinMaxRangeFiteringPointsProcessor>(      dictionary->GetDouble("min_range"), dictionary->GetDouble("max_range"), //trajectory_builder_2d.lua:0,30      //assets_writer_backpack_2d.lua 1-60      next);}/*构造函数,传递min ,max2个范围参数和 PointsProcessor* next指针*/MinMaxRangeFiteringPointsProcessor::MinMaxRangeFiteringPointsProcessor(    const double min_range, const double max_range, PointsProcessor* next)    : min_range_(min_range), max_range_(max_range), next_(next) {}void MinMaxRangeFiteringPointsProcessor::Process(    std::unique_ptr<PointsBatch> batch)     {  std::vector<int> to_remove;    //待移除的索引  for (size_t i = 0; i < batch->points.size(); ++i) {    //计算sensor到远点的l2距离    const float range = (batch->points[i] - batch->origin).norm();     if (!(min_range_ <= range && range <= max_range_)) {              //不在给定范围内,加入移除队列.      to_remove.push_back(i);    }  }  RemovePoints(to_remove, batch.get());  next_->Process(std::move(batch));//完成本轮过滤,接下来进行下一次过滤.即模拟流水线操作.}PointsProcessor::FlushResult MinMaxRangeFiteringPointsProcessor::Flush() {  return next_->Flush();}}  // namespace io}  // namespace cartographer

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