FilterDecimateVoxels.h

Go to the documentation of this file.

/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 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 <mrpt/maps/CPointsMap.h>

namespace mp2p_icp_filters
{
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);

        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 = .20;  // [m]

        bool use_voxel_average = false;

        mrpt::math::TBoundingBoxf bounding_box = {
            {-10.0f, -10.0f, -5.0f}, {10.0f, 10.0f, 5.0f}};
    };

    Parameters params_;

   private:
    mutable PointCloudToVoxelGrid filter_grid_;
};

}  // namespace mp2p_icp_filters