TRangeImageFilter.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/math/CMatrixF.h>

namespace mrpt::obs
{
/** Used in CObservation3DRangeScan::unprojectInto() */
struct TRangeImageFilterParams
{
    /** Only used if <b>both</b> rangeMask_min and rangeMask_max are present.
     * This switches which condition must fulfill a range `D` to be accepted as
     * valid:
     *  - `rangeCheckBetween=true` : valid =  (D>=rangeMask_min &&
     * D<=rangeMask_max)
     *  - `rangeCheckBetween=false`: valid = !(D>=rangeMask_min &&
     * D<=rangeMask_max)
     *
     * \note Default value:true */
    bool rangeCheckBetween{true};
    /** (Default: nullptr) If provided, each data range will be tested to be
     * greater-than (rangeMask_min) or less-than (rangeMask_max) each element in
     * these matrices
     * for each direction (row,col). Values of 0.0f mean no filtering at those
     * directions.
     * If both `rangeMask_min` and `rangeMask_max` are provided, the joint
     * filtering operation is determined by `rangeCheckBetween` */
    const mrpt::math::CMatrixF *rangeMask_min{nullptr}, *rangeMask_max{nullptr};

    /** If enabled, the range pixels of points that do NOT pass the mask filter
     * will be marked as invalid ranges (=0) in the source 3D observation
     * object. */
    bool mark_invalid_ranges{false};

    TRangeImageFilterParams() = default;
};

/** Mainly for internal use within
 * CObservation3DRangeScan::unprojectInto() */
struct TRangeImageFilter
{
    TRangeImageFilterParams fp;
    /** Returns true if the point (r,c) with depth D passes all filters. */
    inline bool do_range_filter(size_t r, size_t c, const float D) const;
    inline TRangeImageFilter(const TRangeImageFilterParams& filter_params)
        : fp(filter_params)
    {
    }
    inline TRangeImageFilter() = default;
};

// ======== Implementation ========
bool TRangeImageFilter::do_range_filter(size_t r, size_t c, const float D) const
{
    // Filters:
    if (D <= .0f) return false;
    // Greater-than/Less-than filters:
    bool pass_gt = true, pass_lt = true;
    bool has_min_filter = false, has_max_filter = false;
    if (fp.rangeMask_min)
    {
        const float min_d = fp.rangeMask_min->coeff(r, c);
        if (min_d != .0f)
        {
            has_min_filter = true;
            pass_gt = (D >= min_d);
        }
    }
    if (fp.rangeMask_max)
    {
        const float max_d = fp.rangeMask_max->coeff(r, c);
        if (max_d != .0f)
        {
            has_max_filter = true;
            pass_lt = (D <= max_d);
        }
    }
    if (has_min_filter && has_max_filter)
    {
        return fp.rangeCheckBetween ? (pass_gt && pass_lt)
                                    : !(pass_gt && pass_lt);
    }
    else
        return pass_gt && pass_lt;
}
}  // namespace mrpt::obs