Add new filter: FilterByExpression

.vscode/settings.json

@@ -38,10 +38,12 @@
         "deskewed",
         "eigen",
         "linearization",
+        "Mañas",
         "recolorize",
         "relinearization",
         "reproject",
         "tfest",
+        "unitarize",
         "unrealize",
         "voxelizes",
         "voxelmaps",
@@ -52,6 +54,7 @@
         "ENTYPO",
         "GLFW",
         "TBoundingBoxf",
-        "imLinear2Neig"
+        "imLinear2Neig",
+        "jacob_dDexpe_de"
     ]
 }

mp2p_icp_filters/CMakeLists.txt

@@ -6,6 +6,7 @@ set(LIB_SRCS
   src/FilterAdjustTimestamps.cpp
   src/FilterBase.cpp
   src/FilterBoundingBox.cpp
+  src/FilterByExpression.cpp
   src/FilterByIntensity.cpp
   src/FilterByRange.cpp
   src/FilterByRing.cpp
@@ -16,8 +17,8 @@ set(LIB_SRCS
   src/FilterDeskew.cpp
   src/FilterEdgesPlanes.cpp
   src/FilterFartherPointSampling.cpp
-  src/FilterMLS.cpp
   src/FilterMerge.cpp
+  src/FilterMLS.cpp
   src/FilterNormalizeIntensity.cpp
   src/FilterPoleDetector.cpp
   src/FilterRemoveByVoxelOccupancy.cpp
@@ -37,6 +38,7 @@ set(LIB_PUBLIC_HDRS
   include/mp2p_icp_filters/FilterAdjustTimestamps.h
   include/mp2p_icp_filters/FilterBase.h
   include/mp2p_icp_filters/FilterBoundingBox.h
+  include/mp2p_icp_filters/FilterByExpression.h
   include/mp2p_icp_filters/FilterByIntensity.h
   include/mp2p_icp_filters/FilterByRange.h
   include/mp2p_icp_filters/FilterByRing.h

mp2p_icp_filters/include/mp2p_icp_filters/FilterAdjustTimestamps.h

@@ -57,9 +57,6 @@ class FilterAdjustTimestamps : public mp2p_icp_filters::FilterBase
    public:
     FilterAdjustTimestamps();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -83,6 +80,10 @@ class FilterAdjustTimestamps : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterBase.h

@@ -30,9 +30,6 @@
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/system/COutputLogger.h>
 
-#include <cstdint>
-#include <stdexcept>
-
 namespace mrpt::system
 {
 class CTimeLogger;

mp2p_icp_filters/include/mp2p_icp_filters/FilterBoundingBox.h

@@ -41,9 +41,6 @@ class FilterBoundingBox : public mp2p_icp_filters::FilterBase
    public:
     FilterBoundingBox();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -71,6 +68,10 @@ class FilterBoundingBox : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterByExpression.h

@@ -0,0 +1,83 @@
+/*               _
+ _ __ ___   ___ | | __ _
+| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
+| | | | | | (_) | | (_| | Localization and mApping (MOLA)
+|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola
+
+ A repertory of multi primitive-to-primitive (MP2P) ICP algorithms
+ and map building tools. mp2p_icp is part of MOLA.
+
+ Copyright (C) 2018-2025 Jose Luis Blanco, University of Almeria,
+                         and individual contributors.
+ SPDX-License-Identifier: BSD-3-Clause
+*/
+
+/**
+ * @file   FilterByExpression.h
+ * @brief  Generic filter by expressions depending on cloud fields
+ * @author Jose Luis Blanco Claraco
+ * @date   Dec 26, 2025
+ */
+
+#pragma once
+
+#include <mp2p_icp/metricmap.h>
+#include <mp2p_icp_filters/FilterBase.h>
+#include <mrpt/expr/CRuntimeCompiledExpression.h>
+#include <mrpt/maps/CPointsMap.h>
+
+namespace mp2p_icp_filters
+{
+/**
+ * A programmable filter that evaluates a mathematical or logical expression
+ * for each point to decide into which output layer it should be moved.
+ *
+ * Parameters:
+ * - expression: A string formula (e.g., "ring > 10", "x^2 + y^2 < 4.0")
+ * - output_layer_passed: (Optional) Layer for points where expression > 0
+ * - output_layer_not_passed: (Optional) Layer for points where expression <= 0
+ *
+ * Variables available in expressions:
+ * - x, y, z: Spatial coordinates
+ * - intensity, ring,... or any other custom field in the input clouds.
+ *
+ * \ingroup mp2p_icp_filters_grp
+ */
+class FilterByExpression : public mp2p_icp_filters::FilterBase
+{
+    DEFINE_MRPT_OBJECT(FilterByExpression, mp2p_icp_filters)
+
+   public:
+    FilterByExpression();
+
+    void filter(mp2p_icp::metric_map_t& inOut) const override;
+
+    struct Parameters
+    {
+        void load_from_yaml(const mrpt::containers::yaml& c, FilterByExpression& parent);
+
+        std::string input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW;
+        std::string expression;
+        std::string output_layer_passed;
+        std::string output_layer_not_passed;
+    };
+    Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
+
+   private:
+    // Re-compiles the expression if the set of fields has changed
+    void update_expression_bindings(const mrpt::maps::CPointsMap& pc) const;
+
+    mutable mrpt::expr::CRuntimeCompiledExpression expr_;
+
+    // This map holds the double values that ExprTk "points" to.
+    // Use a map so addresses remain stable after insertion.
+    mutable std::map<std::string, double> var_values_;
+
+    // Cached set of field names to detect schema changes
+    mutable std::set<std::string> cached_field_names_;
+};
+}  // namespace mp2p_icp_filters

mp2p_icp_filters/include/mp2p_icp_filters/FilterByIntensity.h

@@ -35,9 +35,6 @@ class FilterByIntensity : public mp2p_icp_filters::FilterBase
    public:
     FilterByIntensity();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -65,6 +62,10 @@ class FilterByIntensity : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterByRange.h

@@ -41,9 +41,6 @@ class FilterByRange : public mp2p_icp_filters::FilterBase
    public:
     FilterByRange();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -88,6 +85,10 @@ class FilterByRange : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterByRing.h

@@ -37,9 +37,6 @@ class FilterByRing : public mp2p_icp_filters::FilterBase
    public:
     FilterByRing();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -62,6 +59,10 @@ class FilterByRing : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterCurvature.h

@@ -41,9 +41,6 @@ class FilterCurvature : public mp2p_icp_filters::FilterBase
    public:
     FilterCurvature();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -72,6 +69,10 @@ class FilterCurvature : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterDecimateAdaptive.h

@@ -43,9 +43,6 @@ class FilterDecimateAdaptive : public mp2p_icp_filters::FilterBase
    public:
     FilterDecimateAdaptive();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -72,6 +69,10 @@ class FilterDecimateAdaptive : public mp2p_icp_filters::FilterBase
     /** Algorithm parameters */
     Parameters params;
 
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
+
    private:
     /** The PointCloudToVoxelGrid filter objects.
      * Hidden inside a PIMP to allow TBB parallel implementation without polluting user headers with

mp2p_icp_filters/include/mp2p_icp_filters/FilterDecimateVoxels.h

@@ -77,9 +77,6 @@ class FilterDecimateVoxels : public mp2p_icp_filters::FilterBase
    public:
     FilterDecimateVoxels();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -129,6 +126,10 @@ class FilterDecimateVoxels : public mp2p_icp_filters::FilterBase
     /** Algorithm parameters */
     Parameters params;
 
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
+
    private:
     mutable std::optional<PointCloudToVoxelGrid>       filter_grid_;
     mutable std::optional<PointCloudToVoxelGridSingle> filter_grid_single_;

mp2p_icp_filters/include/mp2p_icp_filters/FilterDeleteLayer.h

@@ -36,9 +36,6 @@ class FilterDeleteLayer : public mp2p_icp_filters::FilterBase
    public:
     FilterDeleteLayer();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -57,6 +54,10 @@ class FilterDeleteLayer : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterDeskew.h

@@ -77,6 +77,7 @@ class FilterDeskew : public mp2p_icp_filters::FilterBase
    public:
     FilterDeskew();
 
+   protected:
     /** Parameters:
      *
      * \code
@@ -94,6 +95,7 @@ class FilterDeskew : public mp2p_icp_filters::FilterBase
      */
     void initialize_filter(const mrpt::containers::yaml& c) override;
 
+   public:
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 

mp2p_icp_filters/include/mp2p_icp_filters/FilterFartherPointSampling.h

@@ -36,9 +36,6 @@ class FilterFartherPointSampling : public mp2p_icp_filters::FilterBase
    public:
     FilterFartherPointSampling();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -53,6 +50,10 @@ class FilterFartherPointSampling : public mp2p_icp_filters::FilterBase
 
     /** Algorithm parameters */
     Parameters params;
+
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
 };
 
 /** @} */

mp2p_icp_filters/include/mp2p_icp_filters/FilterMLS.h

@@ -47,9 +47,6 @@ class FilterMLS : public mp2p_icp_filters::FilterBase
    public:
     FilterMLS();
 
-    // See docs in base class.
-    void initialize_filter(const mrpt::containers::yaml& c) override;
-
     // See docs in FilterBase
     void filter(mp2p_icp::metric_map_t& inOut) const override;
 
@@ -118,6 +115,10 @@ class FilterMLS : public mp2p_icp_filters::FilterBase
     /** Algorithm parameters */
     Parameters params;
 
+   protected:
+    // See docs in base class.
+    void initialize_filter(const mrpt::containers::yaml& c) override;
+
    private:
     /** Hidden implementation details (e.g., Eigen types)
      *