OrientNormals.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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      notice, this list of conditions and the following disclaimer.
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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 "OrientNormals.h"
 
// OrientNormalsDataPointsFilter
// Constructor
template<typename T>
OrientNormalsDataPointsFilter<T>::OrientNormalsDataPointsFilter(const Parameters& params):
        PointMatcher<T>::DataPointsFilter("OrientNormalsDataPointsFilter", 
                OrientNormalsDataPointsFilter::availableParameters(), params),
        towardCenter(Parametrizable::get<bool>("towardCenter"))
{
}
 
// OrientNormalsDataPointsFilter
// Compute
template<typename T>
typename PointMatcher<T>::DataPoints 
OrientNormalsDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}
 
// In-place filter
template<typename T>
void OrientNormalsDataPointsFilter<T>::inPlaceFilter(
        DataPoints& cloud)
{
        if (!cloud.descriptorExists("normals"))
                throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find normals in descriptors.");
        if (!cloud.descriptorExists("observationDirections"))
                throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find observation directions in descriptors.");
 
        BOOST_AUTO(normals, cloud.getDescriptorViewByName("normals"));
        const BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections"));
        assert(normals.rows() == observationDirections.rows());
        const int featDim(cloud.features.cols());
        for (int i = 0; i < featDim; ++i)
        {
                // Check normal orientation
                const Vector vecP = observationDirections.col(i);
                const Vector vecN = normals.col(i);
                const double scalar = vecP.dot(vecN);
 
                // Swap normal
                if(towardCenter)
                {
                        if (scalar < 0)
                                normals.col(i) = -vecN;
                }
                else
                {
                        if (scalar > 0)
                                normals.col(i) = -vecN;
                }
        }
 
}
 
template struct OrientNormalsDataPointsFilter<float>;
template struct OrientNormalsDataPointsFilter<double>;