DefaultHypothesisUpdater.cpp

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#include "next_best_view/hypothesis_updater/impl/DefaultHypothesisUpdater.hpp"

namespace next_best_view {
        DefaultHypothesisUpdater::DefaultHypothesisUpdater() { }
        DefaultHypothesisUpdater::~DefaultHypothesisUpdater() { }

    unsigned int DefaultHypothesisUpdater::update(const ObjectTypeSetPtr &objectTypeSetPtr, const ViewportPoint &viewportPoint) {
        unsigned int count = 0;

        BOOST_FOREACH(int index, *viewportPoint.child_indices) {
                        ObjectPoint &objectPoint = viewportPoint.child_point_cloud->at(index);
            if (objectTypeSetPtr->find(objectPoint.type) == objectTypeSetPtr->end()) {
                continue;
            }
            count += objectPoint.active_normal_vectors->size();

            objectPoint.active_normal_vectors->clear();
            //objectPoint.normal_vectors = SimpleVector3CollectionPtr(new SimpleVector3Collection());
                }

        return count;
    }
}