void
MultiviewRecognizerWithChangeDetection<PointT>::reconstructionFiltering(typename pcl::PointCloud<PointT>::Ptr observation,
pcl::PointCloud<pcl::Normal>::Ptr observation_normals, const Eigen::Matrix4f &absolute_pose, size_t view_id) {
CloudPtr observation_transformed(new Cloud);
pcl::transformPointCloud(*observation, *observation_transformed, absolute_pose);
CloudPtr cloud_tmp(new Cloud);
std::vector<int> indices;
v4r::ChangeDetector<PointT>::difference(observation_transformed, removed_points_cumulated_history_[view_id],
cloud_tmp, indices, param_.tolerance_for_cloud_diff_);
/* Visualization of changes removal for reconstruction:
Cloud rec_changes;
rec_changes += *cloud_transformed;
v4r::VisualResultsStorage::copyCloudColored(*removed_points_cumulated_history_[view_id], rec_changes, 255, 0, 0);
v4r::VisualResultsStorage::copyCloudColored(*cloud_tmp, rec_changes, 200, 0, 200);
stringstream ss;
ss << view_id;
visResStore.savePcd("reconstruction_changes_" + ss.str(), rec_changes);*/
std::vector<bool> preserved_mask(observation->size(), false);
for (std::vector<int>::iterator i = indices.begin(); i < indices.end(); i++) {
preserved_mask[*i] = true;
}
for (size_t j = 0; j < preserved_mask.size(); j++) {
if (!preserved_mask[j]) {
setNan(observation->at(j));
setNan(observation_normals->at(j));
}
}
PCL_INFO("Points by change detection removed: %d\n", observation->size() - indices.size());
}
Prediction::Prediction(const double &f,const double &s):
value(f),low(setNan()),high(setNan()),se(s)
{
}
Prediction::Prediction(const double &f,const double &l, const double &h):
value(f),low(l),high(h),se(setNan())
{
}
