BoundingBox.cpp
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5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 #include "BoundingBox.h"
36 
37 // BoundingBoxDataPointsFilter
38 // Constructor
39 template<typename T>
41  PointMatcher<T>::DataPointsFilter("BoundingBoxDataPointsFilter",
42  BoundingBoxDataPointsFilter::availableParameters(), params),
43  xMin(Parametrizable::get<T>("xMin")),
44  xMax(Parametrizable::get<T>("xMax")),
45  yMin(Parametrizable::get<T>("yMin")),
46  yMax(Parametrizable::get<T>("yMax")),
47  zMin(Parametrizable::get<T>("zMin")),
48  zMax(Parametrizable::get<T>("zMax")),
49  removeInside(Parametrizable::get<bool>("removeInside"))
50 {
51 }
52 
53 // Compute
54 template<typename T>
56  const DataPoints& input)
57 {
58  DataPoints output(input);
59  inPlaceFilter(output);
60  return output;
61 }
62 
63 // In-place filter
64 template<typename T>
66  DataPoints& cloud)
67 {
68  const int nbPointsIn = cloud.features.cols();
69  const int nbRows = cloud.features.rows();
70 
71  int j = 0;
72  for (int i = 0; i < nbPointsIn; ++i)
73  {
74  bool keepPt = false;
75  const Vector point = cloud.features.col(i);
76 
77  // FIXME: improve performance by using Eigen array operations
78  const bool x_in = (point(0) > xMin && point(0) < xMax);
79  const bool y_in = (point(1) > yMin && point(1) < yMax);
80  const bool z_in = (point(2) > zMin && point(2) < zMax) || nbRows == 3;
81  const bool in_box = x_in && y_in && z_in;
82 
83  if(removeInside)
84  keepPt = !in_box;
85  else
86  keepPt = in_box;
87 
88  if(keepPt)
89  {
90  cloud.setColFrom(j, cloud, i);
91  ++j;
92  }
93  }
94 
95  cloud.conservativeResize(j);
96 }
97 
100 
101 
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
BoundingBoxDataPointsFilter
Subsampling. Remove point laying in a bounding box.
Definition: BoundingBox.h:41
BoundingBoxDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: BoundingBox.h:45
build_map.T
T
Definition: build_map.py:34
BoundingBoxDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: BoundingBox.h:50
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
BoundingBoxDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: BoundingBox.cpp:55
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcher::DataPoints::setColFrom
void setColFrom(Index thisCol, const DataPoints &that, Index thatCol)
Set column thisCol equal to column thatCol of that, copy features and descriptors if any....
Definition: pointmatcher/DataPoints.cpp:393
BoundingBoxDataPointsFilter::BoundingBoxDataPointsFilter
BoundingBoxDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: BoundingBox.cpp:40
BoundingBoxDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: BoundingBox.cpp:65
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::get
const M::mapped_type & get(const M &m, const typename M::key_type &k)
Definition: Bibliography.cpp:57
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
BoundingBox.h


libpointmatcher
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autogenerated on Mon Jul 1 2024 02:22:42