BoundingBox.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.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
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      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      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 "BoundingBox.h"
 
// BoundingBoxDataPointsFilter
// Constructor
template<typename T>
BoundingBoxDataPointsFilter<T>::BoundingBoxDataPointsFilter(const Parameters& params):
        PointMatcher<T>::DataPointsFilter("BoundingBoxDataPointsFilter",
                BoundingBoxDataPointsFilter::availableParameters(), params),
        xMin(Parametrizable::get<T>("xMin")),
        xMax(Parametrizable::get<T>("xMax")),
        yMin(Parametrizable::get<T>("yMin")),
        yMax(Parametrizable::get<T>("yMax")),
        zMin(Parametrizable::get<T>("zMin")),
        zMax(Parametrizable::get<T>("zMax")),
        removeInside(Parametrizable::get<bool>("removeInside"))
{
}
 
// Compute
template<typename T>
typename PointMatcher<T>::DataPoints BoundingBoxDataPointsFilter<T>::filter(
        const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}
 
// In-place filter
template<typename T>
void BoundingBoxDataPointsFilter<T>::inPlaceFilter(
        DataPoints& cloud)
{
        const int nbPointsIn = cloud.features.cols();
        const int nbRows = cloud.features.rows();
 
        int j = 0;
        for (int i = 0; i < nbPointsIn; ++i)
        {
                bool keepPt = false;
                const Vector point = cloud.features.col(i);
 
                // FIXME: improve performance by using Eigen array operations
                const bool x_in = (point(0) > xMin && point(0) < xMax);
                const bool y_in = (point(1) > yMin && point(1) < yMax);
                const bool z_in = (point(2) > zMin && point(2) < zMax) || nbRows == 3;
                const bool in_box = x_in && y_in && z_in;
 
                if(removeInside)
                        keepPt = !in_box;
                else
                        keepPt = in_box;
 
                if(keepPt)
                {
                        cloud.setColFrom(j, cloud, i);
                        ++j;
                }
        }
 
        cloud.conservativeResize(j);
}
 
template struct BoundingBoxDataPointsFilter<float>;
template struct BoundingBoxDataPointsFilter<double>;