filters.hpp

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#pragma once
 
#include <memory>
 
#include <cpp-toolbox/cpp-toolbox_export.hpp>
#include <cpp-toolbox/types/point.hpp>
 
namespace toolbox::pcl
{
 
template<typename Derived, typename DataType>
class CPP_TOOLBOX_EXPORT filter_t
{
public:
  using data_type = DataType;
  using point_cloud = toolbox::types::point_cloud_t<data_type>;
  using point_cloud_ptr =
      std::shared_ptr<toolbox::types::point_cloud_t<data_type>>;
 
  std::size_t set_input(const point_cloud& cloud)
  {
    return static_cast<Derived*>(this)->set_input_impl(cloud);
  }
 
  std::size_t set_input(const point_cloud_ptr& cloud)
  {
    return static_cast<Derived*>(this)->set_input_impl(cloud);
  }
 
  void enable_parallel(bool enable)
  {
    return static_cast<Derived*>(this)->enable_parallel_impl(enable);
  }
 
  point_cloud filter() { return static_cast<Derived*>(this)->filter_impl(); }
 
  void filter(point_cloud_ptr output)
  {
    return static_cast<Derived*>(this)->filter_impl(output);
  }
 
protected:
  filter_t() = default;
  ~filter_t() = default;
 
public:
  filter_t(const filter_t&) = delete;
  filter_t& operator=(const filter_t&) = delete;
  filter_t(filter_t&&) = delete;
  filter_t& operator=(filter_t&&) = delete;
 
};  // class filter_t
 
}  // namespace toolbox::pcl