CPointCloudFilterBase.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/system/datetime.h>
#include <memory>
#include <vector>

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{nullptr};
        /** (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{false};

        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;
};
}  // namespace maps
}  // namespace mrpt