FilterBoundingBox.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>

namespace mp2p_icp_filters
{
class FilterBoundingBox : public mp2p_icp_filters::FilterBase
{
    DEFINE_MRPT_OBJECT(FilterBoundingBox, mp2p_icp_filters)
   public:
    FilterBoundingBox();

    // 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;

        std::string output_pointcloud_layer;

        mrpt::math::TBoundingBoxf bounding_box = {
            {-1.0f, -1.0f, -1.0f}, {1.0f, 1.0f, 1.0f}};

        bool keep_bbox_contents = true;
    };

    Parameters params_;
};

}  // namespace mp2p_icp_filters