00001 // kate: replace-tabs off; indent-width 4; indent-mode normal 00002 // vim: ts=4:sw=4:noexpandtab 00003 /* 00004 00005 Copyright (c) 2010--2018, 00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland 00007 You can contact the authors at <f dot pomerleau at gmail dot com> and 00008 <stephane at magnenat dot net> 00009 00010 All rights reserved. 00011 00012 Redistribution and use in source and binary forms, with or without 00013 modification, are permitted provided that the following conditions are met: 00014 * Redistributions of source code must retain the above copyright 00015 notice, this list of conditions and the following disclaimer. 00016 * Redistributions in binary form must reproduce the above copyright 00017 notice, this list of conditions and the following disclaimer in the 00018 documentation and/or other materials provided with the distribution. 00019 * Neither the name of the <organization> nor the 00020 names of its contributors may be used to endorse or promote products 00021 derived from this software without specific prior written permission. 00022 00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY 00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 00034 */ 00035 #include "OrientNormals.h" 00036 00037 // OrientNormalsDataPointsFilter 00038 // Constructor 00039 template<typename T> 00040 OrientNormalsDataPointsFilter<T>::OrientNormalsDataPointsFilter(const Parameters& params): 00041 PointMatcher<T>::DataPointsFilter("OrientNormalsDataPointsFilter", 00042 OrientNormalsDataPointsFilter::availableParameters(), params), 00043 towardCenter(Parametrizable::get<bool>("towardCenter")) 00044 { 00045 } 00046 00047 // OrientNormalsDataPointsFilter 00048 // Compute 00049 template<typename T> 00050 typename PointMatcher<T>::DataPoints 00051 OrientNormalsDataPointsFilter<T>::filter(const DataPoints& input) 00052 { 00053 DataPoints output(input); 00054 inPlaceFilter(output); 00055 return output; 00056 } 00057 00058 // In-place filter 00059 template<typename T> 00060 void OrientNormalsDataPointsFilter<T>::inPlaceFilter( 00061 DataPoints& cloud) 00062 { 00063 if (!cloud.descriptorExists("normals")) 00064 throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find normals in descriptors."); 00065 if (!cloud.descriptorExists("observationDirections")) 00066 throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find observation directions in descriptors."); 00067 00068 BOOST_AUTO(normals, cloud.getDescriptorViewByName("normals")); 00069 const BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections")); 00070 assert(normals.rows() == observationDirections.rows()); 00071 const int featDim(cloud.features.cols()); 00072 for (int i = 0; i < featDim; ++i) 00073 { 00074 // Check normal orientation 00075 const Vector vecP = observationDirections.col(i); 00076 const Vector vecN = normals.col(i); 00077 const double scalar = vecP.dot(vecN); 00078 00079 // Swap normal 00080 if(towardCenter) 00081 { 00082 if (scalar < 0) 00083 normals.col(i) = -vecN; 00084 } 00085 else 00086 { 00087 if (scalar > 0) 00088 normals.col(i) = -vecN; 00089 } 00090 } 00091 00092 } 00093 00094 template struct OrientNormalsDataPointsFilter<float>; 00095 template struct OrientNormalsDataPointsFilter<double>; 00096