CPointCloudFilterBase.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/system/datetime.h>
#include <vector>
#include <memory>
 
namespace mrpt
{
namespace poses
{
class CPose3D;
}
namespace maps
{
class CPointsMap;
}
 
namespace maps
{
/** Virtual base class for all point-cloud filtering algorithm. See derived
* classes for implementations.
* \sa CPointsMap
* \ingroup mrpt_maps_grp
*/
class CPointCloudFilterBase
{
   public:
        using Ptr = std::shared_ptr<CPointCloudFilterBase>;
        CPointCloudFilterBase();
        virtual ~CPointCloudFilterBase();
 
        struct TExtraFilterParams
        {
                /** If a pointer is provided to a user-given container, the list of
                 * points to be deleted will be marked here with `true`. */
                std::vector<bool>* out_deletion_mask;
                /** (Default:false) If true, only `out_deletion_mask` is filled in, but
                 * the filtered-out points will be not actually removed. */
                bool do_not_delete;
 
                TExtraFilterParams();
        };
 
        /** Apply the filtering algorithm to the pointcloud. */
        virtual void filter(
                /** [in,out] The input pointcloud, which will be modified upon
                   return after filtering. */
                mrpt::maps::CPointsMap* inout_pointcloud,
                /** [in] The timestamp of the input pointcloud */
                const mrpt::system::TTimeStamp pc_timestamp,
                /** [in] If nullptr, the PC is assumed to be given in global
                   coordinates. Otherwise, it will be transformed from local
                   coordinates to global using this transformation. */
                const mrpt::poses::CPose3D& pc_reference_pose,
                /** [in,out] additional in/out parameters */
                TExtraFilterParams* params = nullptr) = 0;
};
}
}  // End of namespace