Add centering and thresholding to raw cutouts.

NEEDS TO BE REFACTORED SOON.

Author: lucasb-eyer

__init__.py

@@ -287,14 +287,18 @@ def generate_cut_outs(scan, standard_depth=4.0, window_size=48, threshold_distan
     return cut_outs
 
 
-def generate_cut_outs_raw(scan, window_size=48, border=29.99):
+def generate_cut_outs_raw(scan, window_size=48, threshold_distance=np.inf, center=False, border=29.99):
     '''
     Generate window cut outs that all have a fixed number of rays independent of depth.
     This means objects close to the scanner will cover more rays and those far away fewer.
     All cut outs will contain the raw values from the input scan.
 
     - `scan` an iterable of radii within a laser scan.
     - `window_size` the window of laser rays that will be extracted everywhere.
+    - `threshold_distance` the distance in meters from the center point that will be used to clamp the laser radii.
+      Since we're talking about laser-radii, this means the cutout is a donut-shaped hull, as opposed to a rectangular hull.
+      This can be `np.inf` to skip the clamping altogether.
+    - `center` whether to center the cutout around the current laser point's depth (True), or keep depth values raw (False).
     - `border` the radius value to fill the half of the outermost windows with.
     '''
     s_np = np.fromiter(iter(scan), dtype=np.float32)
@@ -306,11 +310,26 @@ def generate_cut_outs_raw(scan, window_size=48, border=29.99):
     end = start + window_size
     s_np_extended = np.append(s_np, border)
 
+    # While we don't really need to special-case, it should save precious computation.
+    if threshold_distance != np.inf:
+        near = s_np-threshold_distance
+        far  = s_np+threshold_distance
+
     for i in range(N):
         # Get the window.
         sample_points = np.arange(start[i], end[i])
         sample_points[sample_points < 0] = -1
         sample_points[sample_points >= N] = -1
-        cut_outs[i,:] = s_np_extended[sample_points]
+        window = s_np_extended[sample_points]
+
+        # Threshold the near and far values, then
+        if threshold_distance != np.inf:
+            window = np.clip(window, near[i], far[i])
+
+        # shift everything to be centered around the middle point.
+        if center:
+            window -= s_np[i]
+
+        cut_outs[i,:] = window
 
     return cut_outs