MaxDensity.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--2018,
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 #include "MaxDensity.h"
00036 
00037 // MaxDensityDataPointsFilter
00038 // Constructor
00039 template<typename T>
00040 MaxDensityDataPointsFilter<T>::MaxDensityDataPointsFilter(const Parameters& params):
00041         PointMatcher<T>::DataPointsFilter("MaxDensityDataPointsFilter", 
00042                 MaxDensityDataPointsFilter::availableParameters(), params),
00043         maxDensity(Parametrizable::get<T>("maxDensity"))
00044 {
00045 }
00046 
00047 // Compute
00048 template<typename T>
00049 typename PointMatcher<T>::DataPoints MaxDensityDataPointsFilter<T>::filter(
00050         const DataPoints& input)
00051 {
00052         DataPoints output(input);
00053         inPlaceFilter(output);
00054         return output;
00055 }
00056 
00057 // In-place filter
00058 template<typename T>
00059 void MaxDensityDataPointsFilter<T>::inPlaceFilter(
00060         DataPoints& cloud)
00061 {
00062         typedef typename DataPoints::View View;
00063 
00064         // Force densities to be computed
00065         if (!cloud.descriptorExists("densities"))
00066         {
00067                 throw InvalidField("MaxDensityDataPointsFilter: Error, no densities found in descriptors.");
00068         }
00069 
00070         const int nbPointsIn = cloud.features.cols();
00071         View densities = cloud.getDescriptorViewByName("densities");
00072         const T lastDensity = densities.maxCoeff();
00073         const int nbSaturatedPts = (densities.array() == lastDensity).count();
00074 
00075         // fill cloud values
00076         int j = 0;
00077         for (int i = 0; i < nbPointsIn; ++i)
00078         {
00079                 const T density(densities(0,i));
00080                 if (density > maxDensity)
00081                 {
00082                         const float r = (float)std::rand()/(float)RAND_MAX;
00083                         float acceptRatio = maxDensity/density;
00084 
00085                         // Handle saturation value of density
00086                         if (density == lastDensity)
00087                         {
00088                                 acceptRatio = acceptRatio * (1-nbSaturatedPts/nbPointsIn);
00089                         }
00090 
00091                         if (r < acceptRatio)
00092                         {
00093                                 cloud.setColFrom(j, cloud, i);
00094                                 ++j;
00095                         }
00096                 }
00097                 else
00098                 {
00099                         cloud.setColFrom(j, cloud, i);
00100                         ++j;
00101                 }
00102         }
00103 
00104         cloud.conservativeResize(j);
00105 }
00106 
00107 template struct MaxDensityDataPointsFilter<float>;
00108 template struct MaxDensityDataPointsFilter<double>;
00109 


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