FilterBoundingBox.cpp

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/* -------------------------------------------------------------------------
 * A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#include <mp2p_icp_filters/FilterBoundingBox.h>
#include <mp2p_icp_filters/GetOrCreatePointLayer.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/math/ops_containers.h>  // dotProduct
 
IMPLEMENTS_MRPT_OBJECT(FilterBoundingBox, mp2p_icp_filters::FilterBase, mp2p_icp_filters)
 
using namespace mp2p_icp_filters;
 
void FilterBoundingBox::Parameters::load_from_yaml(
    const mrpt::containers::yaml& c, FilterBoundingBox& parent)
{
    MCP_LOAD_OPT(c, input_pointcloud_layer);
    MCP_LOAD_OPT(c, inside_pointcloud_layer);
    MCP_LOAD_OPT(c, outside_pointcloud_layer);
 
    ASSERTMSG_(
        !inside_pointcloud_layer.empty() || !outside_pointcloud_layer.empty(),
        "At least one 'inside_pointcloud_layer' or "
        "'outside_pointcloud_layer' must be provided.");
 
    ASSERT_(
        c.has("bounding_box_min") && c["bounding_box_min"].isSequence() &&
        c["bounding_box_min"].asSequence().size() == 3);
    ASSERT_(
        c.has("bounding_box_max") && c["bounding_box_max"].isSequence() &&
        c["bounding_box_max"].asSequence().size() == 3);
 
    const auto bboxMin = c["bounding_box_min"].asSequence();
    const auto bboxMax = c["bounding_box_max"].asSequence();
 
    for (int i = 0; i < 3; i++)
    {
        parent.parseAndDeclareParameter(bboxMin.at(i).as<std::string>(), bounding_box.min[i]);
        parent.parseAndDeclareParameter(bboxMax.at(i).as<std::string>(), bounding_box.max[i]);
    }
}
 
FilterBoundingBox::FilterBoundingBox()
{
    mrpt::system::COutputLogger::setLoggerName("FilterBoundingBox");
}
 
void FilterBoundingBox::initialize(const mrpt::containers::yaml& c)
{
    MRPT_START
 
    MRPT_LOG_DEBUG_STREAM("Loading these params:\n" << c);
    params_.load_from_yaml(c, *this);
 
    MRPT_END
}
 
void FilterBoundingBox::filter(mp2p_icp::metric_map_t& inOut) const
{
    MRPT_START
 
    // In:
    const auto pcPtr = inOut.point_layer(params_.input_pointcloud_layer);
    ASSERTMSG_(
        pcPtr,
        mrpt::format(
            "Input point cloud layer '%s' was not found.", params_.input_pointcloud_layer.c_str()));
 
    const auto& pc = *pcPtr;
 
    // Create if new: Append to existing layer, if already existed.
    mrpt::maps::CPointsMap::Ptr insidePc = GetOrCreatePointLayer(
        inOut, params_.inside_pointcloud_layer, true /*allow empty for nullptr*/,
        /* create cloud of the same type */
        pcPtr->GetRuntimeClass()->className);
 
    if (insidePc) insidePc->reserve(insidePc->size() + pc.size() / 10);
 
    mrpt::maps::CPointsMap::Ptr outsidePc = GetOrCreatePointLayer(
        inOut, params_.outside_pointcloud_layer, true /*allow empty for nullptr*/,
        /* create cloud of the same type */
        pcPtr->GetRuntimeClass()->className);
 
    if (outsidePc) outsidePc->reserve(outsidePc->size() + pc.size() / 10);
 
    const auto& xs = pc.getPointsBufferRef_x();
    const auto& ys = pc.getPointsBufferRef_y();
    const auto& zs = pc.getPointsBufferRef_z();
 
    for (size_t i = 0; i < xs.size(); i++)
    {
        const bool isInside = params_.bounding_box.containsPoint({xs[i], ys[i], zs[i]});
 
        auto* targetPc = isInside ? insidePc.get() : outsidePc.get();
 
        if (targetPc) targetPc->insertPointFrom(pc, i);
    }
 
    MRPT_END
}