OrientNormals.cpp
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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>
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35 #include "OrientNormals.h"
36 
37 // OrientNormalsDataPointsFilter
38 // Constructor
39 template<typename T>
41  PointMatcher<T>::DataPointsFilter("OrientNormalsDataPointsFilter",
42  OrientNormalsDataPointsFilter::availableParameters(), params),
43  towardCenter(Parametrizable::get<bool>("towardCenter"))
44 {
45 }
46 
47 // OrientNormalsDataPointsFilter
48 // Compute
49 template<typename T>
52 {
53  DataPoints output(input);
54  inPlaceFilter(output);
55  return output;
56 }
57 
58 // In-place filter
59 template<typename T>
61  DataPoints& cloud)
62 {
63  if (!cloud.descriptorExists("normals"))
64  throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find normals in descriptors.");
65  if (!cloud.descriptorExists("observationDirections"))
66  throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find observation directions in descriptors.");
67 
68  BOOST_AUTO(normals, cloud.getDescriptorViewByName("normals"));
69  const BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections"));
70  assert(normals.rows() == observationDirections.rows());
71  const int featDim(cloud.features.cols());
72  for (int i = 0; i < featDim; ++i)
73  {
74  // Check normal orientation
75  const Vector vecP = observationDirections.col(i);
76  const Vector vecN = normals.col(i);
77  const double scalar = vecP.dot(vecN);
78 
79  // Swap normal
80  if(towardCenter)
81  {
82  if (scalar < 0)
83  normals.col(i) = -vecN;
84  }
85  else
86  {
87  if (scalar > 0)
88  normals.col(i) = -vecN;
89  }
90  }
91 
92 }
93 
96 
OrientNormalsDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: OrientNormals.h:45
OrientNormals.h
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
OrientNormalsDataPointsFilter
Reorientation of normals.
Definition: OrientNormals.h:41
OrientNormalsDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: OrientNormals.h:50
build_map.T
T
Definition: build_map.py:34
PointMatcher::DataPoints::descriptorExists
bool descriptorExists(const std::string &name) const
Look if a descriptor with a given name exist.
Definition: pointmatcher/DataPoints.cpp:583
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
OrientNormalsDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: OrientNormals.cpp:51
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
OrientNormalsDataPointsFilter::OrientNormalsDataPointsFilter
OrientNormalsDataPointsFilter(const Parameters &params=Parameters())
Definition: OrientNormals.cpp:40
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
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
OrientNormalsDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: OrientNormals.cpp:60
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::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