MaxDist.cpp
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2018,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 #include "MaxDist.h"
00036 
00037 #include "pointmatcher/Functions.h"
00038 
00039 // MaxDistDataPointsFilter
00040 // Constructor
00041 template<typename T>
00042 MaxDistDataPointsFilter<T>::MaxDistDataPointsFilter(const Parameters& params) :
00043         PointMatcher<T>::DataPointsFilter("MaxDistDataPointsFilter",
00044                 MaxDistDataPointsFilter::availableParameters(), params),
00045         dim(Parametrizable::get<unsigned>("dim")),
00046         maxDist(Parametrizable::get<T>("maxDist"))
00047 {
00048 }
00049 
00050 // Compute
00051 template<typename T>
00052 typename PointMatcher<T>::DataPoints MaxDistDataPointsFilter<T>::filter(
00053         const DataPoints& input)
00054 {
00055         DataPoints output(input);
00056         inPlaceFilter(output);
00057         return output;
00058 }
00059 
00060 // In-place filter
00061 template<typename T>
00062 void MaxDistDataPointsFilter<T>::inPlaceFilter(
00063         DataPoints& cloud)
00064 {
00065         using namespace PointMatcherSupport;
00066         
00067         if (dim >= cloud.features.rows() - 1)
00068         {
00069                 throw InvalidParameter(
00070                         (boost::format("MaxDistDataPointsFilter: Error, filtering on dimension number %1%, larger than authorized axis id %2%") % dim % (cloud.features.rows() - 2)).str());
00071         }
00072 
00073         const int nbPointsIn = cloud.features.cols();
00074         const int nbRows = cloud.features.rows();
00075 
00076         int j = 0;
00077         if(dim == -1) // Euclidean distance
00078         {
00079                 const T absMaxDist = anyabs(maxDist);
00080                 for (int i = 0; i < nbPointsIn; ++i)
00081                 {
00082                         if (cloud.features.col(i).head(nbRows-1).norm() < absMaxDist)
00083                         {
00084                                 cloud.setColFrom(j, cloud, i);
00085                                 ++j;
00086                         }
00087                 }
00088         }
00089         else // Single-axis distance
00090         {
00091                 for (int i = 0; i < nbPointsIn; ++i)
00092                 {
00093                         if ((cloud.features(dim, i)) < maxDist)
00094                         {
00095                                 cloud.setColFrom(j, cloud, i);
00096                                 ++j;
00097                         }
00098                 }
00099         }
00100 
00101         cloud.conservativeResize(j);
00102 }
00103 
00104 template struct MaxDistDataPointsFilter<float>;
00105 template struct MaxDistDataPointsFilter<double>;


libpointmatcher
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autogenerated on Thu Jun 20 2019 19:51:31