void
pcl::ihs::Integration::age (const MeshPtr& mesh, const bool cleanup) const
{
for (Mesh::VertexIterator it = mesh->beginVertexes (); it!=mesh->endVertexes (); ++it)
{
if(it->age < age_max_)
{
// Point survives
++it->age;
}
else if(it->age == age_max_) // Judgement Day
{
if(it->visconf.getValue () < visconf_min_)
{
// Point dies (no need to transform it)
mesh->deleteVertex (*it);
}
else
{
// Point becomes immortal
it->age = std::numeric_limits <unsigned int>::max ();
}
}
}
if (cleanup)
{
mesh->cleanUp ();
}
}
void
pcl::ihs::Integration::age (const MeshPtr& mesh, const bool cleanup) const
{
for (unsigned int i=0; i<mesh->sizeVertices (); ++i)
{
PointIHS& pt = mesh->getVertexDataCloud () [i];
if (pt.age < max_age_)
{
// Point survives
++(pt.age);
}
else if (pt.age == max_age_) // Judgement Day
{
if (pcl::ihs::countDirections (pt.directions) < min_directions_)
{
// Point dies (no need to transform it)
mesh->deleteVertex (VertexIndex (i));
}
else
{
// Point becomes immortal
pt.age = std::numeric_limits <unsigned int>::max ();
}
}
}
if (cleanup)
{
mesh->cleanUp ();
}
}
void
pcl::ihs::Integration::removeUnfitVertices (const MeshPtr& mesh, const bool cleanup) const
{
for (unsigned int i=0; i<mesh->sizeVertices (); ++i)
{
if (pcl::ihs::countDirections (mesh->getVertexDataCloud () [i].directions) < min_directions_)
{
// Point dies (no need to transform it)
mesh->deleteVertex (VertexIndex (i));
}
}
if (cleanup)
{
mesh->cleanUp ();
}
}