cartographer源码分析(35)-io-fixed_ratio_sampling_points_processor.h

最新推荐文章于 2026-05-22 12:01:55 发布

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最新推荐文章于 2026-05-22 12:01:55 发布 · 902 阅读

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本文深入剖析了Cartographer中用于点云处理的fixed_ratio_sampling_points_processor源码，关注点在于如何通过固定比例采样来优化点云数据。

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


文件:fixed_ratio_sampling_points_processor.h


#ifndef CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_
#define CARTOGRAPHER_IO_FIXED_RATIO_SAMPLING_POINTS_PROCESSOR_H_

#include <memory>

#include "cartographer/common/fixed_ratio_sampler.h"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/io/points_processor.h"

namespace cartographer {
   
   
namespace io {
   
   

/*
FixedRatioSamplingPointsProcessor是PointsProcessor的第七个子类(7).
FixedRatioSamplingPointsProcessor是采样过滤器,
该class只让具有固定采样频率的点通过,其余全部 remove.

sampling_ratio=1,即无任何操作,全通滤波.

sparse_pose_graph.lua:
 sampling_ratio = 0.3,

*/
// Only let a fixed 'sampling_ratio' of points through. A 'sampling_ratio' of 1.
// makes this filter a no-op.
class FixedRatioSamplingPointsProcessor : public PointsProcessor {
   
   
 public:
  constexpr static const