Добавил конструктор фильтров

2026-04-22 17:10:25 +03:00
parent c8e553e953
commit e0f72ba288
60 changed files with 4041 additions and 379 deletions
@@ -0,0 +1,35 @@
+#ifndef PIPELINE_EXECUTOR_H
+#define PIPELINE_EXECUTOR_H
+
+#include <memory>
+
+#include "pipeline_stage.h"
+
+namespace core
+{
+class PipelineExecutor
+{
+public:
+    void addPreprocessStage(const std::shared_ptr<IPreprocessStage> &stage);
+    void addTransformStage(const std::shared_ptr<ITransformStage> &stage);
+    void addRegistrationStage(const std::shared_ptr<IRegistrationStage> &stage);
+    void addLocalizationStage(const std::shared_ptr<ILocalizationStage> &stage);
+    void addSegmentationStage(const std::shared_ptr<ISegmentationStage> &stage);
+    void addMappingStage(const std::shared_ptr<IMappingStage> &stage);
+    void addPlanningStage(const std::shared_ptr<IPlanningStage> &stage);
+    void setReconstructionStage(const std::shared_ptr<IReconstructionStage> &stage);
+    PipelineResult run(const PointCloudFrame &input) const;
+
+private:
+    QVector<std::shared_ptr<IPreprocessStage> > m_preprocessStages;
+    QVector<std::shared_ptr<ITransformStage> > m_transformStages;
+    QVector<std::shared_ptr<IRegistrationStage> > m_registrationStages;
+    QVector<std::shared_ptr<ILocalizationStage> > m_localizationStages;
+    QVector<std::shared_ptr<ISegmentationStage> > m_segmentationStages;
+    QVector<std::shared_ptr<IMappingStage> > m_mappingStages;
+    QVector<std::shared_ptr<IPlanningStage> > m_planningStages;
+    std::shared_ptr<IReconstructionStage> m_reconstructionStage;
+};
+} // namespace core
+
+#endif // PIPELINE_EXECUTOR_H