ObservationDirection.cpp
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3 /*
4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
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34 */
35 #include "ObservationDirection.h"
36 
37 // ObservationDirectionDataPointsFilter
38 // Constructor
39 template<typename T>
41  PointMatcher<T>::DataPointsFilter("ObservationDirectionDataPointsFilter",
42  ObservationDirectionDataPointsFilter::availableParameters(), params),
43  centerX(Parametrizable::get<T>("x")),
44  centerY(Parametrizable::get<T>("y")),
45  centerZ(Parametrizable::get<T>("z"))
46 {
47 }
48 
49 // Compute
50 template<typename T>
53 {
54  DataPoints output(input);
55  inPlaceFilter(output);
56  return output;
57 }
58 
59 // In-place filter
60 template<typename T>
62 {
63  const int dim(cloud.features.rows() - 1);
64  const int featDim(cloud.features.cols());
65  if (dim != 2 && dim != 3)
66  {
67  throw InvalidField(
68  (boost::format("ObservationDirectionDataPointsFilter: Error, works only in 2 or 3 dimensions, cloud has %1% dimensions.") % dim).str()
69  );
70  }
71 
72  Vector center(dim);
73  center[0] = centerX;
74  center[1] = centerY;
75  if (dim == 3)
76  center[2] = centerZ;
77 
78  cloud.allocateDescriptor("observationDirections", dim);
79  BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections"));
80 
81  for (int i = 0; i < featDim; ++i)
82  {
83  // Check normal orientation
84  const Vector p(cloud.features.block(0, i, dim, 1));
85  observationDirections.col(i) = center - p;
86  }
87 
88 }
89 
92 
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
build_map.T
T
Definition: build_map.py:34
PointMatcher::DataPoints::allocateDescriptor
void allocateDescriptor(const std::string &name, const unsigned dim)
Makes sure a descriptor of a given name exists, if present, check its dimensions.
Definition: pointmatcher/DataPoints.cpp:519
ObservationDirectionDataPointsFilter
Extract observation direction.
Definition: ObservationDirection.h:41
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
ObservationDirection.h
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
align_sequence.params
params
Definition: align_sequence.py:13
ObservationDirectionDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: ObservationDirection.cpp:52
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
ObservationDirectionDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: ObservationDirection.h:45
PointMatcherSupport::get
const M::mapped_type & get(const M &m, const typename M::key_type &k)
Definition: Bibliography.cpp:57
icp_advance_api.dim
dim
Definition: icp_advance_api.py:152
ObservationDirectionDataPointsFilter::ObservationDirectionDataPointsFilter
ObservationDirectionDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: ObservationDirection.cpp:40
ObservationDirectionDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: ObservationDirection.cpp:61
ObservationDirectionDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: ObservationDirection.h:50
PointMatcher::DataPoints::getDescriptorViewByName
ConstView getDescriptorViewByName(const std::string &name) const
Get a const view on a descriptor by name, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:555


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autogenerated on Mon Jul 1 2024 02:22:43