npoints_validator.cpp

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#include <cone_validator/npoints_validator.hpp>
 
NPointsValidator::NPointsValidator(long unsigned int min_n_points) : _min_n_points_(min_n_points) {}
 
std::vector<double> NPointsValidator::coneValidator(Cluster* cone_point_cloud,
                                                    [[maybe_unused]] Plane& plane) const {
  // index 0 = if below minimum number of points, else 1. No confidence implemented to further
  // punish small clusters.
  if (cone_point_cloud->get_point_indices().size() >= _min_n_points_) {
    return {1.0};
  } else {
    return {0.0};
  }
}