MinDist.h

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/*
 
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>
 
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*/
#pragma once
 
#include "PointMatcher.h"
 
template< typename T>
struct MinDistDataPointsFilter: public PointMatcher<T>::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>::DataPoints DataPoints;
        
        inline static const std::string description()
        {
                return "Subsampling. Filter points before a minimum distance measured on a specific axis. If dim is set to -1, points are filtered based on a minimum radius.";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"dim", "dimension on which the filter will be applied. x=0, y=1, z=2, radius=-1", "-1", "-1", "2", &P::Comp<int>},
                        {"minDist", "minimum value authorized. If dim is set to -1 (radius), the absolute value of minDist will be used. All points before that will be filtered.", "1", "-inf", "inf", &P::Comp<T>}
                };
        }
        
        const int dim;
        const T minDist;
 
        MinDistDataPointsFilter(const Parameters& params = Parameters());
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};