OutlierFilter.cpp
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #include "PointMatcher.h"
00037 #include "PointMatcherPrivate.h"
00038 #include <limits>
00039 
00040 using namespace std;
00041 
00043 template<typename T>
00044 PointMatcher<T>::OutlierFilter::OutlierFilter()
00045 {}
00046 
00048 template<typename T>
00049 PointMatcher<T>::OutlierFilter::OutlierFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params):
00050         Parametrizable(className,paramsDoc,params)
00051 {}
00052 
00054 template<typename T>
00055 PointMatcher<T>::OutlierFilter::~OutlierFilter()
00056 {}
00057 
00058 template struct PointMatcher<float>::OutlierFilter;
00059 template struct PointMatcher<double>::OutlierFilter;
00060 
00061 
00063 template<typename T>
00064 typename PointMatcher<T>::OutlierWeights PointMatcher<T>::OutlierFilters::compute(
00065         const DataPoints& filteredReading,
00066         const DataPoints& filteredReference,
00067         const Matches& input)
00068 {
00069         //FIXME: Why we filter infinit distance only when no filter?
00070         if (this->empty())
00071         {
00072                 // we do not have any filter, therefore we must put 0 weights for infinite distances
00073                 OutlierWeights w(input.dists.rows(), input.dists.cols());
00074                 for (int x = 0; x < w.cols(); ++x)
00075                 {
00076                         for (int y = 0; y < w.rows(); ++y)
00077                         {
00078                                 if (input.dists(y, x) == numeric_limits<T>::infinity())
00079                                         w(y, x) = 0;
00080                                 else
00081                                         w(y, x) = 1;
00082                         }
00083                 }
00084                 return w;
00085         }
00086         else
00087         {
00088                 // apply filters, they should take care of infinite distances
00089                 //LOG_INFO_STREAM("Applying " << this->size() << " Outlier filters" );
00090                 OutlierWeights w = (*this->begin())->compute(filteredReading, filteredReference, input);
00091                 //LOG_INFO_STREAM("* " << (*this->begin())->className );
00092                 if (this->size() > 1)
00093                 {
00094                         for (OutlierFiltersConstIt it = (this->begin() + 1); it != this->end(); ++it)
00095                         {
00096                                 w = w.array() * (*it)->compute(filteredReading, filteredReference, input).array();
00097                                 //LOG_INFO_STREAM("* " << (*it)->className );
00098                         }
00099                 }
00100 
00101                 return w;
00102         }
00103 }
00104 
00105 
00106 
00107 template struct PointMatcher<float>::OutlierFilters;
00108 template struct PointMatcher<double>::OutlierFilters;


libpointmatcher
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autogenerated on Mon Sep 14 2015 02:59:06