CutAtDescriptorThreshold.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 "CutAtDescriptorThreshold.h"
 
// CutAtDescriptorThresholdDataPointsFilter
// Constructor
template<typename T>
CutAtDescriptorThresholdDataPointsFilter<T>::CutAtDescriptorThresholdDataPointsFilter(const Parameters& params):
        PointMatcher<T>::DataPointsFilter("CutAtDescriptorThresholdDataPointsFilter", 
                CutAtDescriptorThresholdDataPointsFilter::availableParameters(), params),
        descName(Parametrizable::get<std::string>("descName")),
        useLargerThan(Parametrizable::get<bool>("useLargerThan")),
        threshold(Parametrizable::get<T>("threshold"))
{
}
 
// Compute
template<typename T>
typename PointMatcher<T>::DataPoints
CutAtDescriptorThresholdDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}
 
// In-place filter
template<typename T>
void CutAtDescriptorThresholdDataPointsFilter<T>::inPlaceFilter(
        DataPoints& cloud)
{
        // Check field exists
        if (!cloud.descriptorExists(descName))
        {
                throw InvalidField("CutAtDescriptorThresholdDataPointsFilter: Error, field not found in descriptors.");
        }
 
        const int nbPointsIn = cloud.features.cols();
        typename DataPoints::View values = cloud.getDescriptorViewByName(descName);
 
        // fill cloud values
        int j = 0;
        if (useLargerThan)
        {
                for (int i = 0; i < nbPointsIn; ++i)
                {
                        const T value(values(0,i));
                        if (value <= threshold)
                        {
                                cloud.setColFrom(j, cloud, i);
                                ++j;
                        }
                }
        }
        else
        {
                for (int i = 0; i < nbPointsIn; ++i)
                {
                        const T value(values(0,i));
                        if (value >= threshold)
                        {
                                cloud.setColFrom(j, cloud, i);
                                ++j;
                        }
                }
        }
        cloud.conservativeResize(j);
}
 
template struct CutAtDescriptorThresholdDataPointsFilter<float>;
template struct CutAtDescriptorThresholdDataPointsFilter<double>;