AddDescriptor.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
 
#pragma once
 
#include "PointMatcher.h"
 
template<typename T>
struct AddDescriptorDataPointsFilter : public PointMatcher<T>::DataPointsFilter
{
    // Type definitions
    typedef PointMatcher<T> PM;
    typedef typename PM::DataPoints DataPoints;
    typedef typename PM::DataPointsFilter DataPointsFilter;
 
    typedef PointMatcherSupport::Parametrizable Parametrizable;
    typedef PointMatcherSupport::Parametrizable P;
    typedef Parametrizable::Parameters Parameters;
    typedef Parametrizable::ParameterDoc ParameterDoc;
    typedef Parametrizable::ParametersDoc ParametersDoc;
    typedef Parametrizable::InvalidParameter InvalidParameter;
 
    typedef typename PointMatcher<T>::Matrix Matrix;
    typedef typename PointMatcher<T>::Vector Vector;
    typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;
 
    const std::string descriptorName;
    const std::size_t descriptorDimension;
    const std::vector<T> descriptorValues;
 
    inline static const std::string description()
    {
        return "Adds a new descriptor to an existing point cloud or overwrites existing descriptor with the same name.\n\n"
                           "Required descriptors: none.\n"
                       "Produced descriptors:  User defined.\n"
                           "Altered descriptors:  none.\n"
                           "Altered features:     none.";
    }
 
    inline static const ParametersDoc availableParameters()
    {
        return {
                {"descriptorName",      "Name of the descriptor to be added.", "testDescriptor" },
                {"descriptorDimension", "Length of the descriptor to be added.", "1",            "1", "4294967295", &P::Comp < std::size_t > },
                {"descriptorValues",    "Values of the descriptor to be added.\n"
                                        "List of 'descriptorDimension' numbers of type T, separated by commas, closed in brackets,\n"
                                        "e.g. [2.2, 3.0, 6.1]", ""}
        };
    }
 
        //Constructor, uses parameter interface
        explicit AddDescriptorDataPointsFilter(const Parameters& params = Parameters());
 
    virtual DataPoints filter(const DataPoints& input);
    virtual void inPlaceFilter(DataPoints& cloud);
};