FilterRemoveByVoxelOccupancy.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 FilterRemoveByVoxelOccupancy : public mp2p_icp_filters::FilterBase
{
    DEFINE_MRPT_OBJECT(FilterRemoveByVoxelOccupancy, mp2p_icp_filters)
   public:
    FilterRemoveByVoxelOccupancy();
 
    // 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,
            FilterRemoveByVoxelOccupancy& parent);
 
        std::string input_pointcloud_layer;
        std::string input_voxel_layer;
        std::string output_layer_static_objects;
        std::string output_layer_dynamic_objects;
        double      occupancy_threshold = 0.4;
    };
 
    Parameters params_;
};
 
}  // namespace mp2p_icp_filters