FilterDecimateVoxels.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/metricmap.h>
#include <mp2p_icp_filters/FilterBase.h>
#include <mp2p_icp_filters/PointCloudToVoxelGrid.h>
#include <mrpt/maps/CPointsMap.h>
 
namespace mp2p_icp_filters
{
class FilterDecimateVoxels : public mp2p_icp_filters::FilterBase
{
    DEFINE_MRPT_OBJECT(FilterDecimateVoxels, mp2p_icp_filters)
   public:
    FilterDecimateVoxels();
 
    // See docs in base class.
    void initialize(const mrpt::containers::yaml& c) override;
 
    // See docs in FilterBase
    void filter(mp2p_icp::metric_map_t& inOut) const override;
 
    struct Parameters
    {
        void load_from_yaml(const mrpt::containers::yaml& c);
 
        std::string input_pointcloud_layer =
            mp2p_icp::metric_map_t::PT_LAYER_RAW;
 
        bool error_on_missing_input_layer = true;
 
        std::string output_pointcloud_layer;
 
        double voxel_filter_resolution = .20;  // [m]
 
        bool use_voxel_average = false;
 
        mrpt::math::TBoundingBoxf bounding_box = {
            {-10.0f, -10.0f, -5.0f}, {10.0f, 10.0f, 5.0f}};
    };
 
    Parameters params_;
 
   private:
    mutable PointCloudToVoxelGrid filter_grid_;
};
 
}  // namespace mp2p_icp_filters