GeneralFilter.hpp

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#pragma once

#include <boost/foreach.hpp>
#include <ros/ros.h>
#include <vector>

#include "next_best_view/common/CommonClass.hpp"
#include "next_best_view/helper/DebugHelper.hpp"

namespace next_best_view {
        class GeneralFilter;
        typedef boost::shared_ptr<GeneralFilter> GeneralFilterPtr;

        class GeneralFilter : public CommonClass {
        private:
                GeneralFilterPtr mPreFilter;
        GeneralFilterPtr mPostFilter;
        DebugHelperPtr mDebugHelperPtr;
        public:
                GeneralFilter() : mPreFilter(), mPostFilter() {
            mDebugHelperPtr = DebugHelper::getInstance();
                }

                void setPreFilter(GeneralFilterPtr &filterPtr) {
                        mPreFilter = filterPtr;
                }

                void setPostFilter(GeneralFilterPtr &filterPtr) {
                        mPostFilter = filterPtr;
                }

                virtual void doFiltering(IndicesPtr &indicesPtr) = 0;

                void filter(IndicesPtr &indicesPtr) {
                        // set an empty indices list.
                        indicesPtr = IndicesPtr(new Indices());

                        // apply pre filter
                        if (mPreFilter != GeneralFilterPtr()) {
                mDebugHelperPtr->write("Start pre filtering", DebugHelper::FILTER);
                                // set the working input cloud and the relevant indices to work on.
                                mPreFilter->setInputCloud(this->getInputCloud());
                                mPreFilter->setIndices(this->getIndices());

                                // do the filtering
                                mPreFilter->doFiltering(indicesPtr);

                                // set the indices of the filter to the already filtered indices and reset the return indices pointer.
                                this->setIndices(indicesPtr);
                                indicesPtr = IndicesPtr(new Indices());
                mDebugHelperPtr->write("Ended pre filtering", DebugHelper::FILTER);
                        }

                        // apply this filter
                        this->doFiltering(indicesPtr);

                        // apply post filter
                        if (mPostFilter != GeneralFilterPtr()) {
                mDebugHelperPtr->write("Start post filtering", DebugHelper::FILTER);
                                // set the working input cloud and the relevant indices to work on.
                                mPostFilter->setInputCloud(this->getInputCloud());
                                mPostFilter->setIndices(indicesPtr);

                                indicesPtr = IndicesPtr(new Indices());
                                mPostFilter->doFiltering(indicesPtr);
                mDebugHelperPtr->write("Ended post filtering", DebugHelper::FILTER);
                        }
                }
        };
}