DistanceLimit.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>
 
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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      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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*/
#pragma once
 
#include "PointMatcher.h"
 
template< typename T>
struct DistanceLimitDataPointsFilter: 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 based on distance measured on a specific axis. If dim is set to -1, points are filtered based on radial distance.";
        }
        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>},
                                {"dist", "distance limit of the filter. If dim is set to -1 (radius), the absolute value of dist will be used", "1", "-inf", "inf", &P::Comp<T>},
                                {"removeInside", "If set to true (1), remove points before the distance limit; else (0), remove points beyond the distance limit", "1", "0", "1", P::Comp<bool>}
                };
        }
 
        const int dim;
        const T dist;
        const bool removeInside;
 
        DistanceLimitDataPointsFilter(const Parameters& params = Parameters());
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};