OrientNormals.h
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3 /*
4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
40 template<typename T>
42 {
49 
50  typedef typename PointMatcher<T>::Vector Vector;
53 
54  inline static const std::string description()
55  {
56  return "Normals. Reorient normals so that they all point in the same direction, with respect to the observation points.";
57  }
58 
59  inline static const ParametersDoc availableParameters()
60  {
61  return {
62  {"towardCenter", "If set to true(1), all the normals will point inside the surface (i.e. toward the observation points).", "1", "0", "1", &P::Comp<bool>}
63  };
64  }
65 
68  virtual DataPoints filter(const DataPoints& input);
69  virtual void inPlaceFilter(DataPoints& cloud);
70 
71  const bool towardCenter;
72 };
OrientNormalsDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: OrientNormals.h:45
OrientNormalsDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: OrientNormals.h:47
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
OrientNormalsDataPointsFilter
Reorientation of normals.
Definition: OrientNormals.h:41
OrientNormalsDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: OrientNormals.h:50
OrientNormalsDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: OrientNormals.h:52
Parameters
PM::Parameters Parameters
Definition: filterProfiler.cpp:20
OrientNormalsDataPointsFilter::description
static const std::string description()
Definition: OrientNormals.h:54
OrientNormalsDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: OrientNormals.h:48
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
OrientNormalsDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: OrientNormals.cpp:51
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
testing::internal::string
::std::string string
Definition: gtest.h:1979
OrientNormalsDataPointsFilter::~OrientNormalsDataPointsFilter
virtual ~OrientNormalsDataPointsFilter()
Definition: OrientNormals.h:67
OrientNormalsDataPointsFilter::OrientNormalsDataPointsFilter
OrientNormalsDataPointsFilter(const Parameters &params=Parameters())
Definition: OrientNormals.cpp:40
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
OrientNormalsDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: OrientNormals.h:46
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
OrientNormalsDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: OrientNormals.h:44
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
OrientNormalsDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: OrientNormals.h:43
OrientNormalsDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: OrientNormals.cpp:60
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
OrientNormalsDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OrientNormals.h:59
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
PointMatcher.h
public interface
OrientNormalsDataPointsFilter::towardCenter
const bool towardCenter
Definition: OrientNormals.h:71
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
OrientNormalsDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: OrientNormals.h:51


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