CropBoxFilter.cpp

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#include "next_best_view/crop_box/CropBoxFilter.hpp"

#include <vector>
#include <set>

namespace next_best_view {

    CropBoxFilter::CropBoxFilter(const std::string &xml_path) : GeneralFilter() {
        mCropBoxPtrList = CropBoxWrapper::readCropBoxDataFromXMLFile(xml_path);
    }

    void CropBoxFilter::doFiltering(IndicesPtr &indicesPtr) {

        ObjectPointCloudPtr inputObjectPointCloudPtr = this->getInputCloud();
        ObjectPointCloudPtr processingPointCloudPtr = nullptr;

        if (getIndices() == nullptr) {
            processingPointCloudPtr = inputObjectPointCloudPtr;
        } else {
            processingPointCloudPtr = ObjectPointCloudPtr(new ObjectPointCloud(*inputObjectPointCloudPtr, *getIndices()));
        }

        //Filter the point cloud
        auto result = boost::make_shared<std::set<int>>();
        for (CropBoxWrapperPtr cropBoxWrapper : *mCropBoxPtrList) {
            IndicesPtr filteredObjectIndices = IndicesPtr(new Indices());
            CropBoxPtr cropBoxPtr = cropBoxWrapper->getCropBox();
            cropBoxPtr->setInputCloud(processingPointCloudPtr);
            cropBoxPtr->filter(*filteredObjectIndices);
            // put all filtered objects into the result set
            result->insert(filteredObjectIndices->begin(), filteredObjectIndices->end());
        }

        // put result set into indicesPtr vector
        std::copy(result->begin(), result->end(), std::back_inserter(*indicesPtr));
    }

    boost::shared_ptr<std::vector<CropBoxWrapperPtr>> CropBoxFilter::getCropBoxWrapperPtrList() {
        return mCropBoxPtrList;
    }
}