CPointCloudFilterByDistance.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/maps/CPointCloudFilterBase.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/core/aligned_std_map.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/config/CLoadableOptions.h>
 
namespace mrpt
{
namespace maps
{
/** Implementation of pointcloud filtering based on requisities for minimum
 * neigbouring points in both,
 *   the current timestamp and a previous one.
 *
 * \sa CPointsMap
  * \ingroup mrpt_maps_grp
 */
class CPointCloudFilterByDistance : public mrpt::maps::CPointCloudFilterBase
{
   public:
        // See base docs
        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) override;
 
        struct TOptions : public mrpt::config::CLoadableOptions
        {
                /** (Default: 0.05 m) */
                double min_dist;
                /** (Default: 2 deg) Stored in rad. */
                double angle_tolerance;
                /** (Default: 1 s) */
                double too_old_seconds;
                /** (Default: 1) How many previous keyframes will be compared with the
                 * latest pointcloud. */
                int previous_keyframes;
                /** (Default: 0.4) If the ratio [0,1] of points considered invalid
                 * ("deletion") is larger than this ratio, no point will be deleted
                 * since it'd be too suspicious and may indicate a failure of this
                 * filter. */
                double max_deletion_ratio;
 
                TOptions();
                void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void saveToConfigFile(
                        mrpt::config::CConfigFileBase& c,
                        const std::string& section) const override;
        };
 
        TOptions options;
 
   private:
        struct FrameInfo
        {
                mrpt::poses::CPose3D pose;
                mrpt::maps::CSimplePointsMap::Ptr pc;
 
                MRPT_MAKE_ALIGNED_OPERATOR_NEW
        };
 
        mrpt::aligned_std_map<mrpt::system::TTimeStamp, FrameInfo> m_last_frames;
};
}
}  // End of namespace