BoundingBox.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
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/*

Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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*/
#pragma once

#include "PointMatcher.h"

template< typename T>
struct BoundingBoxDataPointsFilter: public PointMatcher<T>::DataPointsFilter
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename PointMatcher<T>::Vector Vector;
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        
        inline static const std::string description()
        {
                return "Subsampling. Remove points laying in a bounding box which is axis aligned.";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"xMin", "minimum value on x-axis defining one side of the bounding box", "-1", "-inf", "inf", &P::Comp<T>},
                        {"xMax", "maximum value on x-axis defining one side of the bounding box", "1", "-inf", "inf", &P::Comp<T>},
                        {"yMin", "minimum value on y-axis defining one side of the bounding box", "-1", "-inf", "inf", &P::Comp<T>},
                        {"yMax", "maximum value on y-axis defining one side of the bounding box", "1", "-inf", "inf", &P::Comp<T>},
                        {"zMin", "minimum value on z-axis defining one side of the bounding box", "-1", "-inf", "inf", &P::Comp<T>},
                        {"zMax", "maximum value on z-axis defining one side of the bounding box", "1", "-inf", "inf", &P::Comp<T>},
                        {"removeInside", "If set to true (1), remove points inside the bounding box; else (0), remove points outside the bounding box", "1", "0", "1", P::Comp<bool>}
                };
        }

        const T xMin;
        const T xMax;
        const T yMin;
        const T yMax;
        const T zMin;
        const T zMax;
        const bool removeInside;
        
        BoundingBoxDataPointsFilter(const Parameters& params = Parameters());
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};