FilterBase.cpp

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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.
 * ------------------------------------------------------------------------- */
#include <mp2p_icp_filters/FilterBase.h>
#include <mrpt/system/CTimeLogger.h>
 
IMPLEMENTS_VIRTUAL_MRPT_OBJECT(FilterBase, mrpt::rtti::CObject, mp2p_icp_filters)
 
using namespace mp2p_icp_filters;
 
FilterBase::FilterBase() : mrpt::system::COutputLogger("FilterBase") {}
 
FilterBase::~FilterBase() = default;
 
void mp2p_icp_filters::apply_filter_pipeline(
    const FilterPipeline& filters, mp2p_icp::metric_map_t& inOut,
    const mrpt::optional_ref<mrpt::system::CTimeLogger>& profiler)
{
    for (const auto& f : filters)
    {
        ASSERT_(f.get() != nullptr);
 
        std::optional<mrpt::system::CTimeLoggerEntry> tle;
        if (profiler) tle.emplace(*profiler, f->GetRuntimeClass()->className);
 
        f->filter(inOut);
    }
}
 
FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml(
    const mrpt::containers::yaml& c, const mrpt::system::VerbosityLevel& vLevel)
{
    if (c.isNullNode()) return {};
 
    ASSERT_(c.isSequence());
 
    FilterPipeline filters;
 
    for (const auto& entry : c.asSequence())
    {
        const auto& e = entry.asMap();
 
        const auto sClass = e.at("class_name").as<std::string>();
        auto       o      = mrpt::rtti::classFactory(sClass);
        ASSERT_(o);
 
        auto f = std::dynamic_pointer_cast<FilterBase>(o);
        ASSERTMSG_(
            f, mrpt::format("`%s` class seems not to be derived from FilterBase", sClass.c_str()));
 
        f->setMinLoggingLevel(vLevel);
 
        f->initialize(e.at("params"));
        filters.push_back(f);
    }
 
    return filters;
}
 
FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml_file(
    const std::string& filename, const mrpt::system::VerbosityLevel& vLevel)
{
    const auto yamlContent = mrpt::containers::yaml::FromFile(filename);
 
    ASSERT_(yamlContent.has("filters") && yamlContent["filters"].isSequence());
 
    return filter_pipeline_from_yaml(yamlContent["filters"], vLevel);
}