FilterDeskew.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/math/TTwist3D.h>
 
namespace mp2p_icp_filters
{
class FilterDeskew : public mp2p_icp_filters::FilterBase
{
    DEFINE_MRPT_OBJECT(FilterDeskew, mp2p_icp_filters)
   public:
    FilterDeskew();
 
    void initialize(const mrpt::containers::yaml& c) override;
 
    // See docs in FilterBase
    void filter(mp2p_icp::metric_map_t& inOut) const override;
 
    std::string input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW;
 
    std::string output_pointcloud_layer;
 
    std::string output_layer_class = "mrpt::maps::CPointsMapXYZI";
 
    bool silently_ignore_no_timestamps = false;
 
    bool skip_deskew = false;
 
    mrpt::math::TTwist3D twist;
};
 
}  // namespace mp2p_icp_filters