ObservationDirection.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

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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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/
#include "ObservationDirection.h"

// ObservationDirectionDataPointsFilter
// Constructor
template<typename T>
ObservationDirectionDataPointsFilter<T>::ObservationDirectionDataPointsFilter(const Parameters& params):
        PointMatcher<T>::DataPointsFilter("ObservationDirectionDataPointsFilter", 
                ObservationDirectionDataPointsFilter::availableParameters(), params),
        centerX(Parametrizable::get<T>("x")),
        centerY(Parametrizable::get<T>("y")),
        centerZ(Parametrizable::get<T>("z"))
{
}

// Compute
template<typename T>
typename PointMatcher<T>::DataPoints
ObservationDirectionDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}

// In-place filter
template<typename T>
void ObservationDirectionDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{
        const int dim(cloud.features.rows() - 1);
        const int featDim(cloud.features.cols());
        if (dim != 2 && dim != 3)
        {
                throw InvalidField(
                        (boost::format("ObservationDirectionDataPointsFilter: Error, works only in 2 or 3 dimensions, cloud has %1% dimensions.") % dim).str()
                );
        }

        Vector center(dim);
        center[0] = centerX;
        center[1] = centerY;
        if (dim == 3)
                center[2] = centerZ;

        cloud.allocateDescriptor("observationDirections", dim);
        BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections"));

        for (int i = 0; i < featDim; ++i)
        {
                // Check normal orientation
                const Vector p(cloud.features.block(0, i, dim, 1));
                observationDirections.col(i) = center - p;
        }

}

template struct ObservationDirectionDataPointsFilter<float>;
template struct ObservationDirectionDataPointsFilter<double>;