Merge branch 'angle-limit-filter' into matej-wip

norlab-ulaval · Dec 15, 2024 · e061a57 · e061a57
2 parents 7cda3ce + c3d1683
commit e061a57
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Showing 4 changed files with 214 additions and 121 deletions.
diff --git a/doc/DataFilters.md b/doc/DataFilters.md
@@ -113,7 +113,7 @@ __Impact on the number of points:__ reduces number of points
 |phiMax       |Maximum value on the x-axis defining one side of the box | inf | -inf to inf|
 |thetaMin       |Minimum value on the y-axis defining one side of the box | -inf | -inf to inf|
 |thetaMax       |Maximum value on the y-axis defining one side of the box | inf | -inf to inf|
-|removeInside   |if set to 1, points contained within the box are removed, else points outside are removed  |1   | 0 or 1|
+|removeInside   |if set to 1, points contained within the sphere wedge are removed, else points outside are removed  |1   | 0 or 1|
 
 
 ## Bounding Box Filter <a name="boundingboxhead"></a>

diff --git a/pointmatcher/DataPointsFilters/AngleLimit.cpp b/pointmatcher/DataPointsFilters/AngleLimit.cpp
@@ -71,8 +71,6 @@ void AngleLimitDataPointsFilter<T>::inPlaceFilter(
 	const int nbRows = cloud.features.rows();
 
 	int j = 0;
-    T angle_min = 10;
-    T angle_max = -10;
     for(int i = 0; i < nbPoints; ++i)
     {
         auto point = cloud.features.col(i).head(nbRows-1);
@@ -84,22 +82,17 @@ void AngleLimitDataPointsFilter<T>::inPlaceFilter(
         if (point(1) < 0)
             phiPoint = -phiPoint;
 
-        if (phiPoint < angle_min)
-            angle_min = phiPoint;
-        if (phiPoint > angle_max)
-            angle_max = phiPoint;
-
         if(removeInside)
         {
-            if (phiMin < phiPoint && phiPoint < phiMax && thetaMin < thetaPoint && thetaPoint < thetaMax) // point is inside range
+            if((phiPoint < phiMin || phiMax < phiPoint) || (thetaPoint < thetaMin || thetaMax < thetaPoint)) // point is outside range, keep it
             {
                 cloud.setColFrom(j, cloud, i);
                 ++j;
             }
         }
         else
         {
-            if((phiPoint < phiMin || phiMax < phiPoint) || (thetaPoint < thetaMin || thetaMax < thetaPoint)) // point is outside range
+            if (phiMin < phiPoint && phiPoint < phiMax && thetaMin < thetaPoint && thetaPoint < thetaMax) // point is inside range, keep it
             {
                 cloud.setColFrom(j, cloud, i);
                 ++j;

diff --git a/pointmatcher/DataPointsFilters/AngleLimit.h b/pointmatcher/DataPointsFilters/AngleLimit.h
@@ -63,7 +63,7 @@ struct AngleLimitDataPointsFilter: public PointMatcher<T>::DataPointsFilter
 				{"phiMax", "Upper bound of the azimuthal angle", "-inf", "-inf", "inf", &P::Comp<T>},
 				{"thetaMin", "Lower bound of the polar angle", "-inf", "-inf", "inf", &P::Comp<T>},
 				{"thetaMax", "Upper bound of the polar angle", "-inf", "-inf", "inf", &P::Comp<T>},
-				{"removeInside", "If set to true (1), remove points before the distance limit; else (0), remove points beyond the distance limit", "1", "0", "1", P::Comp<bool>}
+				{"removeInside", "If set to true (1), remove points inside the spherical wedge; else (0), remove points outside the wedge", "1", "0", "1", P::Comp<bool>}
 		};
 	}