OutlierFiltersImpl.h

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/*

Copyright (c) 2010--2012,
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<stephane at magnenat dot net>

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#ifndef __POINTMATCHER_OUTLIERFILTERS_H
#define __POINTMATCHER_OUTLIERFILTERS_H

#include "PointMatcher.h"

template<typename T>
struct OutlierFiltersImpl
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        typedef typename PointMatcher<T>::Matches Matches;
        typedef typename PointMatcher<T>::OutlierFilter OutlierFilter;
        typedef typename PointMatcher<T>::OutlierWeights OutlierWeights;
        typedef typename PointMatcher<T>::Matrix Matrix;        
        typedef typename PointMatcher<T>::Vector Vector;
        
        struct NullOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "Does nothing.";
                }
                
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

        struct MaxDistOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "This filter considers as outlier links whose norms are above a fix threshold.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "maxDist", "threshold distance (Euclidean norm)", "1", "0.0000001", "inf", &P::Comp<T>) 
                        ;
                }
                
                const T maxDist;
                
                MaxDistOutlierFilter(const Parameters& params = Parameters());
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

        //FIXME: is that useful in any case?
        struct MinDistOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "This filter considers as outlier links whose norms are below a threshold.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "minDist", "threshold distance (Euclidean norm)", "1", "0.0000001", "inf", &P::Comp<T>) 
                        ;
                }
                
                const T minDist;
                
                MinDistOutlierFilter(const Parameters& params = Parameters()); 
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

        struct MedianDistOutlierFilter: public OutlierFilter 
        {
                inline static const std::string description()
                {
                        return "This filter considers as outlier links whose norms are above the median link norms times a factor. Based on \\cite{Diebel2004Median}.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "factor", "points farther away factor * median will be considered outliers.", "3", "0.0000001", "inf", &P::Comp<T>)
                        ;
                }
                
                const T factor;
                
                MedianDistOutlierFilter(const Parameters& params = Parameters());
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

        struct TrimmedDistOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "Hard rejection threshold using quantile. This filter considers as inlier a certain percentage of the links with the smallest norms. Based on \\cite{Chetverikov2002Trimmed}.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "ratio", "percentage to keep", "0.85", "0.0000001", "0.9999999", &P::Comp<T>)
                        ;
                }
                
                const T ratio;
                
                TrimmedDistOutlierFilter(const Parameters& params = Parameters());
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

        struct VarTrimmedDistOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "Hard rejection threshold using quantile and variable ratio. Based on \\cite{Phillips2007VarTrimmed}.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "minRatio", "min ratio", "0.05", "0.0000001", "1", &P::Comp<T>)
                                ( "maxRatio", "max ratio", "0.99", "0.0000001", "1", &P::Comp<T>)
                                ( "lambda", "lambda (part of the term that balance the rmsd: 1/ratio^lambda", "0.95" )
                        ;
                }

                const T minRatio;
                const T maxRatio;
                const T lambda;
                
                VarTrimmedDistOutlierFilter(const Parameters& params = Parameters());
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
                
        private:
                // return the optimized ratio
                T optimizeInlierRatio(const Matches& matches);
        };
        
        
        // ---------------------------------
        struct SurfaceNormalOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "Hard rejection threshold using the angle between the surface normal vector of the reading and the reference. If normal vectors or not in the descriptor for both of the point clouds, does nothing.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "maxAngle", "Maximum authorised angle between the 2 surface normals (in radian)", "1.57", "0.0", "3.1416", &P::Comp<T>)
                        ;
                }

                const T eps;
                bool warningPrinted;
                
                SurfaceNormalOutlierFilter(const Parameters& params = Parameters());
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

        struct GenericDescriptorOutlierFilter: public OutlierFilter
        {
                inline static const std::string description()
                {
                        return "This filter weights matched points based on a 1D descriptor of either a single point cloud (either the reference or the reading). The descriptor values must be larger than zero.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "source", "Point cloud from which the descriptor will be used: reference or reading", "reference")
                                ( "descName", "Descriptor name used to weight paired points", "none")
                                ( "useSoftThreshold", "If set to 1 (true), uses the value of the descriptor as a weight. If set to 0 (false), uses the parameter 'threshold' to set binary weights.", "0", "0", "1", P::Comp<bool>)
                                ( "useLargerThan", "If set to 1 (true), values over the 'threshold' will have a weight of one.  If set to 0 (false), values under the 'threshold' will have a weight of one. All other values will have a weight of zero.", "1", "0", "1", P::Comp<bool>)
                                ( "threshold", "Value used to determine the binary weights", "0.1", "0.0000001", "inf", &P::Comp<T>)
                                ;
                }
                
                const std::string source;
                const std::string descName;
                const bool useSoftThreshold;
                const bool useLargerThan;
                const T threshold;
                
                GenericDescriptorOutlierFilter(const Parameters& params = Parameters());
                virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
        };

}; // OutlierFiltersImpl

#endif // __POINTMATCHER_OUTLIERFILTERS_H