GeneratorEdgesFromCurvature.h

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/* -------------------------------------------------------------------------
 * A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp_filters/Generator.h>
 
namespace mp2p_icp_filters
{
class GeneratorEdgesFromCurvature : public mp2p_icp_filters::Generator
{
    DEFINE_MRPT_OBJECT(GeneratorEdgesFromCurvature, mp2p_icp_filters)
 
   public:
    GeneratorEdgesFromCurvature() = default;
 
    // See derived class docs
    void initialize(const mrpt::containers::yaml& cfg_block) override;
 
    struct ParametersEdges
    {
        void load_from_yaml(
            const mrpt::containers::yaml& c,
            GeneratorEdgesFromCurvature&  parent);
 
        float max_cosine          = 0.5f;
        float min_point_clearance = 0.10f;
    };
 
    ParametersEdges paramsEdges_;
 
    bool process(
        const mrpt::obs::CObservation& input_raw, mp2p_icp::metric_map_t& inOut,
        const std::optional<mrpt::poses::CPose3D>& robotPose =
            std::nullopt) const override;
 
   protected:
    // To be overrided in derived classes, if implemented:
    bool filterRotatingScan(
        const mrpt::obs::CObservationRotatingScan& pc,
        mp2p_icp::metric_map_t&                    out,
        const std::optional<mrpt::poses::CPose3D>& robotPose =
            std::nullopt) const override;
};
 
}  // namespace mp2p_icp_filters