bounding_box_raw.cpp

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#include <ias_descriptors_3d/bounding_box_raw.h>

using namespace std;

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
BoundingBoxRaw::BoundingBoxRaw(double bbox_radius)
{
  result_size_ = 3;
  result_size_defined_ = true;

  neighborhood_radius_ = bbox_radius;
  neighborhood_radius_defined_ = true;
}



// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
void BoundingBoxRaw::clearShared()
{
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
std::string BoundingBoxRaw::getName() const
{
  ostringstream oss;
  oss << "BoundingBoxRaw_radius" << neighborhood_radius_;
  return oss.str();
}


// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
int BoundingBoxRaw::precompute(const sensor_msgs::PointCloud& data,
                               cloud_kdtree::KdTree& data_kdtree,
                               const std::vector<const geometry_msgs::Point32*>& interest_pts)
{
  return 0;
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
int BoundingBoxRaw::precompute(const sensor_msgs::PointCloud& data,
                               cloud_kdtree::KdTree& data_kdtree,
                               const std::vector<const std::vector<int>*>& interest_region_indices)
{
  return 0;
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
void BoundingBoxRaw::computeNeighborhoodFeature(const sensor_msgs::PointCloud& data,
                                                const vector<int>& neighbor_indices,
                                                const unsigned int interest_sample_idx,
                                                std::vector<float>& result) const
{
  result.resize(result_size_);
  const unsigned int nbr_neighbors = neighbor_indices.size();

  // --------------------------
  // Check for special case when no points in the bounding box as will initialize
  // the min/max extremas using the first point below
  if (nbr_neighbors == 0)
  {
    ROS_INFO("BoundingBoxRaw::computeNeighborhoodFeature() No points to form bounding box");
    for (size_t i = 0 ; i < result_size_ ; i++)
    {
      result[i] = 0.0;
    }
    return;
  }

  // --------------------------
  // Initialize extrema values to the first coordinate in the interest region
  const geometry_msgs::Point32& first_point = data.points.at(neighbor_indices[0]);
  float min_x = first_point.x;
  float min_y = first_point.y;
  float min_z = first_point.z;
  float max_x = min_x;
  float max_y = min_y;
  float max_z = min_z;

  // --------------------------
  // Loop over remaining points in region and update extremas
  for (unsigned int i = 1 ; i < nbr_neighbors ; i++)
  {
    const geometry_msgs::Point32& curr_pt = data.points.at(neighbor_indices[i]);

    // x extremas
    float curr_coord = curr_pt.x;
    if (curr_coord < min_x)
    {
      min_x = curr_coord;
    }
    if (curr_coord > max_x)
    {
      max_x = curr_coord;
    }

    // y extremas
    curr_coord = curr_pt.y;
    if (curr_coord < min_y)
    {
      min_y = curr_coord;
    }
    if (curr_coord > max_y)
    {
      max_y = curr_coord;
    }

    // z extremas
    curr_coord = curr_pt.z;
    if (curr_coord < min_z)
    {
      min_z = curr_coord;
    }
    if (curr_coord > max_z)
    {
      max_z = curr_coord;
    }
  }

  // --------------------------
  result[0] = max_x - min_x;
  result[1] = max_y - min_y;
  result[2] = max_z - min_z;
}