IncidenceAngle.cpp

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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.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/
#include "IncidenceAngle.h"

// IncidenceAngleDataPointsFilter
// Compute
template<typename T>
typename PointMatcher<T>::DataPoints 
IncidenceAngleDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}

// In-place filter
template<typename T>
void IncidenceAngleDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{

        if (!cloud.descriptorExists("normals"))
                throw InvalidField("IncidenceAngleDataPointsFilter: Error, cannot find normals in descriptors.");
        if (!cloud.descriptorExists("observationDirections"))
                throw InvalidField("IncidenceAngleDataPointsFilter: Error, cannot find observation directions in descriptors.");

        cloud.allocateDescriptor("incidenceAngles", 1);
        BOOST_AUTO(angles, cloud.getDescriptorViewByName("incidenceAngles"));

        const BOOST_AUTO(normals, cloud.getDescriptorViewByName("normals"));
        const BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections"));
        assert(normals.rows() == observationDirections.rows());
        
        const unsigned int nbPts(cloud.getNbPoints());

        for (unsigned int i = 0; i < nbPts; ++i)
        {
                // Check normal orientation
                const Vector vecP = observationDirections.col(i).normalized();
                const Vector vecN = normals.col(i);// assumed to be normalized
                angles(0,i) = acos(vecP.dot(vecN));
        }
}

template struct IncidenceAngleDataPointsFilter<float>;
template struct IncidenceAngleDataPointsFilter<double>;