MatchersImpl.h
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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 #ifndef __POINTMATCHER_MATCHERS_H
00037 #define __POINTMATCHER_MATCHERS_H
00038 
00039 #include "PointMatcher.h"
00040 
00041 #include "nabo/nabo.h"
00042 #if NABO_VERSION_INT < 10007
00043         #error "You need libnabo version 1.0.7 or greater"
00044 #endif
00045 
00046 template<typename T>
00047 struct MatchersImpl
00048 {
00049         typedef PointMatcherSupport::Parametrizable Parametrizable;
00050         typedef PointMatcherSupport::Parametrizable P;
00051         typedef Parametrizable::Parameters Parameters;
00052         typedef Parametrizable::ParameterDoc ParameterDoc;
00053         typedef Parametrizable::ParametersDoc ParametersDoc;
00054         
00055         typedef typename Nabo::NearestNeighbourSearch<T> NNS;
00056         typedef typename NNS::SearchType NNSearchType;
00057         
00058         typedef typename PointMatcher<T>::DataPoints DataPoints;
00059         typedef typename PointMatcher<T>::Matcher Matcher;
00060         typedef typename PointMatcher<T>::Matches Matches;
00061         
00062         struct NullMatcher: public Matcher
00063         {
00064                 inline static const std::string description()
00065                 {
00066                         return "Does nothing, returns no match.";
00067                 }
00068 
00069                 NullMatcher() : Matcher("NullMatcher",  ParametersDoc(), Parameters()) {}
00070                 virtual void init(const DataPoints& filteredReference);
00071                 virtual Matches findClosests(const DataPoints& filteredReading);
00072         };
00073 
00074         struct KDTreeMatcher: public Matcher
00075         {
00076                 inline static const std::string description()
00077                 {
00078                         return "This matcher matches a point from the reading to its closest neighbors in the reference.";
00079                 }
00080                 inline static const ParametersDoc availableParameters()
00081                 {
00082                         return {
00083                                 {"knn", "number of nearest neighbors to consider it the reference", "1", "1", "2147483647", &P::Comp<unsigned>},
00084                                 {"epsilon", "approximation to use for the nearest-neighbor search", "0", "0", "inf", &P::Comp<T>},
00085                                 {"searchType", "Nabo search type. 0: brute force, check distance to every point in the data (very slow), 1: kd-tree with linear heap, good for small knn (~up to 30) and 2: kd-tree with tree heap, good for large knn (~from 30)", "1", "0", "2", &P::Comp<unsigned>},
00086                                 {"maxDist", "maximum distance to consider for neighbors", "inf", "0", "inf", &P::Comp<T>}
00087                         };
00088                 }
00089                 
00090                 const int knn;
00091                 const T epsilon;
00092                 const NNSearchType searchType;
00093                 const T maxDist;
00094 
00095         protected:
00096                 std::shared_ptr<NNS> featureNNS;
00097 
00098         public:
00099                 KDTreeMatcher(const Parameters& params = Parameters());
00100                 virtual ~KDTreeMatcher();
00101                 virtual void init(const DataPoints& filteredReference);
00102                 virtual Matches findClosests(const DataPoints& filteredReading);
00103         };
00104 
00105         struct KDTreeVarDistMatcher: public Matcher
00106         {
00107                 inline static const std::string description()
00108                 {
00109                         return "This matcher matches a point from the reading to its closest neighbors in the reference. A maximum search radius per point can be defined.";
00110                 }
00111                 inline static const ParametersDoc availableParameters()
00112                 {
00113                         return {
00114                                 {"knn", "number of nearest neighbors to consider it the reference", "1", "1", "2147483647", &P::Comp<unsigned>},
00115                                 {"epsilon", "approximation to use for the nearest-neighbor search", "0", "0", "inf", &P::Comp<T>},
00116                                 {"searchType", "Nabo search type. 0: brute force, check distance to every point in the data (very slow), 1: kd-tree with linear heap, good for small knn (~up to 30) and 2: kd-tree with tree heap, good for large knn (~from 30)", "1", "0", "2", &P::Comp<unsigned>},
00117                                 {"maxDistField", "descriptor field name used to set a maximum distance to consider for neighbors per point", "maxSearchDist"}
00118                         };
00119                 }
00120                 
00121                 const int knn;
00122                 const T epsilon;
00123                 const NNSearchType searchType;
00124                 const std::string maxDistField;
00125 
00126         protected:
00127                 std::shared_ptr<NNS> featureNNS;
00128 
00129         public:
00130                 KDTreeVarDistMatcher(const Parameters& params = Parameters());
00131                 virtual ~KDTreeVarDistMatcher();
00132                 virtual void init(const DataPoints& filteredReference);
00133                 virtual Matches findClosests(const DataPoints& filteredReading);
00134         };
00135 
00136 }; // MatchersImpl
00137 
00138 #endif // __POINTMATCHER_MATCHERS_H


libpointmatcher
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autogenerated on Thu Jun 20 2019 19:51:31