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00047 #include "pcdfilter_pa/pcdfilter_pa.h"
00048
00049
00050 #include "opencv2/calib3d/calib3d.hpp"
00051 #include "opencv2/photo/photo.hpp"
00052
00053
00054 #include <string>
00055 #include <math.h>
00056
00057
00058 cPcdFilterPa::cPcdFilterPa() {
00059 }
00060
00061
00062 cPcdFilterPa::~cPcdFilterPa() {
00063 }
00064
00065
00066 std::vector<int> cPcdFilterPa::pointcloudFilter(const cv::Mat &pointcloud,
00067 std::vector<bool> &mask) const {
00068
00069 std::vector <int> count(params_.filters_.size(), 0);
00070 mask.resize(pointcloud.rows, true);
00071
00072 for (int i_point = pointcloud.rows - 1; i_point >= 0; i_point--) {
00073 for (int i_filter = params_.filters_.size() - 1; i_filter >= 0;
00074 i_filter--) {
00075 if (params_.filters_[i_filter].type_ ==
00076 cPcdFilterPaFilter::ftNONE) {
00077 continue;
00078 }
00079 cv::Vec3f v((float*) pointcloud.ptr(i_point));
00080 v = params_.filters_[i_filter].rotation_ * v +
00081 params_.filters_[i_filter].translation_;
00082
00083 bool check = false;
00084 switch (params_.filters_[i_filter].type_) {
00085 case cPcdFilterPaFilter::ftCUBE :
00086 if (std::fabs(v[0]) >
00087 params_.filters_[i_filter].parameter_[0]) {
00088 check = true; break;
00089 }
00090 if (std::fabs(v[1]) >
00091 params_.filters_[i_filter].parameter_[0]) {
00092 check = true; break;
00093 }
00094 if (std::fabs(v[2]) >
00095 params_.filters_[i_filter].parameter_[0]) {
00096 check = true; break;
00097 }
00098 break;
00099
00100 case cPcdFilterPaFilter::ftBLOCK :
00101 if (std::fabs(v[0]) >
00102 params_.filters_[i_filter].parameter_[0]) {
00103 check = true; break;
00104 }
00105 if (std::fabs(v[1]) >
00106 params_.filters_[i_filter].parameter_[1]) {
00107 check = true; break;
00108 }
00109 if (std::fabs(v[2]) >
00110 params_.filters_[i_filter].parameter_[2]) {
00111 check = true; break;
00112 }
00113 break;
00114
00115 case cPcdFilterPaFilter::ftSPHERE :
00116 if (v[0] * v[0] + v[1] * v[1] + v[2] * v[2] >
00117 params_.filters_[i_filter].parameter_[0]) {
00118 check = true; break;
00119 }
00120 break;
00121
00122 case cPcdFilterPaFilter::ftCYLINDER :
00123 if (v[1] * v[1] + v[2] * v[2] >
00124 params_.filters_[i_filter].parameter_[0]) {
00125 check = true; break;
00126 }
00127 if (std::fabs(v[0]) >
00128 params_.filters_[i_filter].parameter_[1]) {
00129 check = true; break;
00130 }
00131 break;
00132
00133 case cPcdFilterPaFilter::ftCONE :
00134 if (v[0] <= 0) {
00135 check = true; break;
00136 }
00137
00138 if (v[0] > params_.filters_[i_filter].parameter_[0]) {
00139 check = true; break;
00140 }
00141
00142 if ((v[1] * v[1] + v[2] * v[2]) > (v[0] * v[0]) *
00143 params_.filters_[i_filter].parameter_[1]) {
00144 check = true; break;
00145 }
00146 break;
00147 }
00148 if (params_.filters_[i_filter].inverse_) {
00149 check = ! check;
00150 }
00151 if (check == false) {
00152 count[i_filter]++;
00153 mask[i_point] = false;
00154 break;
00155 }
00156 }
00157 }
00158
00159 return count;
00160 }