FilterBase.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/Parameterizable.h>
#include <mp2p_icp/metricmap.h>
#include <mp2p_icp_filters/sm2mm.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/core/optional_ref.h>
#include <mrpt/maps/CPointsMap.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/rtti/CObject.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/version.h>
 
#include <cstdint>
#include <stdexcept>
 
namespace mrpt::system
{
class CTimeLogger;
}
 
namespace mp2p_icp_filters
{
class FilterBase : public mrpt::rtti::CObject,  // RTTI support
                   public mrpt::system::COutputLogger,  // Logging support
                   public mp2p_icp::Parameterizable  // Dynamic parameters
{
#if MRPT_VERSION < 0x020e00
    DEFINE_VIRTUAL_MRPT_OBJECT(FilterBase)
#else
    DEFINE_VIRTUAL_MRPT_OBJECT(FilterBase, mp2p_icp_filters)
#endif
 
   public:
    FilterBase();
    virtual ~FilterBase();
 
    virtual void initialize(const mrpt::containers::yaml& cfg_block) = 0;
 
    virtual void filter(mp2p_icp::metric_map_t& inOut) const = 0;
 
};
 
using FilterPipeline = std::vector<FilterBase::Ptr>;
 
void apply_filter_pipeline(
    const FilterPipeline& filters, mp2p_icp::metric_map_t& inOut,
    const mrpt::optional_ref<mrpt::system::CTimeLogger>& profiler =
        std::nullopt);
 
[[nodiscard]] FilterPipeline filter_pipeline_from_yaml(
    const mrpt::containers::yaml&       c,
    const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO);
 
[[nodiscard]] FilterPipeline filter_pipeline_from_yaml_file(
    const std::string&                  filename,
    const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO);
 
}  // namespace mp2p_icp_filters