CutAtDescriptorThreshold.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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*/
#pragma once

#include "PointMatcher.h"

#include <string>

template<typename T>
struct CutAtDescriptorThresholdDataPointsFilter: public PointMatcher<T>::DataPointsFilter
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;
        
  inline static const std::string description()
  {
    return "Subsampling. Cut points with value of a given descriptor above or below a given threshold.";
  }
  inline static const ParametersDoc availableParameters()
  {
    return {
        {"descName", "Descriptor name used to cut points", "none"},
        {"useLargerThan", "If set to 1 (true), points with values above the 'threshold' will be cut.  If set to 0 (false), points with values below the 'threshold' will be cut.", "1", "0", "1", P::Comp<bool>},
        {"threshold", "Value at which to cut.", "0", "-inf", "inf", &P::Comp<T>}
    };
  }

  const std::string descName;
  const bool useLargerThan;
  const T threshold;

  CutAtDescriptorThresholdDataPointsFilter(const Parameters& params = Parameters());
  virtual DataPoints filter(const DataPoints& input);
  virtual void inPlaceFilter(DataPoints& cloud);
};