FilterDecimateVoxels.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>
#include <mp2p_icp_filters/PointCloudToVoxelGrid.h>
#include <mp2p_icp_filters/PointCloudToVoxelGridSingle.h>
#include <mrpt/maps/CPointsMap.h>
#include <mrpt/typemeta/TEnumType.h>
 
namespace mp2p_icp_filters
{
enum class DecimateMethod : uint8_t
{
    FirstPoint = 0,
    ClosestToAverage,
    VoxelAverage,
    RandomPoint
};
 
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, FilterDecimateVoxels& parent);
 
        std::vector<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 = 1.0;  // [m]
 
        uint32_t minimum_input_points_to_filter = 0;
 
        std::optional<double> flatten_to;
 
        DecimateMethod decimate_method = DecimateMethod::FirstPoint;
    };
 
    Parameters params_;
 
   private:
    mutable std::optional<PointCloudToVoxelGrid>       filter_grid_;
    mutable std::optional<PointCloudToVoxelGridSingle> filter_grid_single_;
 
    bool useSingleGrid() const
    {
        return params_.decimate_method == DecimateMethod::FirstPoint;
    }
};
 
}  // namespace mp2p_icp_filters
 
MRPT_ENUM_TYPE_BEGIN_NAMESPACE(
    mp2p_icp_filters, mp2p_icp_filters::DecimateMethod)
MRPT_FILL_ENUM(DecimateMethod::FirstPoint);
MRPT_FILL_ENUM(DecimateMethod::ClosestToAverage);
MRPT_FILL_ENUM(DecimateMethod::VoxelAverage);
MRPT_FILL_ENUM(DecimateMethod::RandomPoint);
MRPT_ENUM_TYPE_END()