FilterByIntensity.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/metricmap.h>
#include <mp2p_icp_filters/FilterBase.h>
 
namespace mp2p_icp_filters
{
class FilterByIntensity : public mp2p_icp_filters::FilterBase
{
    DEFINE_MRPT_OBJECT(FilterByIntensity, mp2p_icp_filters)
   public:
    FilterByIntensity();
 
    // 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;
 
        std::string output_layer_low_intensity;
 
        std::string output_layer_high_intensity;
 
        std::string output_layer_mid_intensity;
 
        float low_threshold  = 0.10f;
        float high_threshold = 0.90f;
    };
 
    Parameters params_;
};
 
}  // namespace mp2p_icp_filters