MaxPointCount.cpp
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1 // kate: replace-tabs off; indent-width 4; indent-mode normal
2 // vim: ts=4:sw=4:noexpandtab
3 /*
4 
5 Copyright (c) 2010--2018,
6 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
10 All rights reserved.
11 
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions are met:
14  * Redistributions of source code must retain the above copyright
15  notice, this list of conditions and the following disclaimer.
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22 
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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33 
34 */
35 #include "MaxPointCount.h"
36 #include <random>
37 
38 // MaxPointCountDataPointsFilter
39 // Constructor
40 template<typename T>
42  PointMatcher<T>::DataPointsFilter("MaxPointCountDataPointsFilter",
43  MaxPointCountDataPointsFilter::availableParameters(), params),
44  maxCount(Parametrizable::get<size_t>("maxCount"))
45 {
46  try
47  {
48  seed = this->template get<size_t>("seed");
49  }
50  catch (const InvalidParameter&)
51  {
52  seed = static_cast<size_t>(1); // rand default seed number
53  }
54 }
55 
56 // Compute
57 template<typename T>
59 {
60  DataPoints output(input);
61  inPlaceFilter(output);
62  return output;
63 }
64 
65 // In-place filter
66 template<typename T>
68 {
69  const size_t N{static_cast<size_t>(cloud.getNbPoints() - 1)};
70 
71  if (maxCount <= N)
72  {
73  std::minstd_rand randomNumberGenerator(static_cast<std::uint_fast32_t>(seed));
74  std::uniform_real_distribution<float> distribution{0, 1};
75 
76  for (size_t j{0u}; j < maxCount; ++j)
77  {
78  //Get a random index in [j; N]
79  const size_t index{j + static_cast<size_t>((N - j) * distribution(randomNumberGenerator))};
80 
81  //Switch columns j and index
82  cloud.swapCols(j, index);
83  }
84  //Resize the cloud
85  cloud.conservativeResize(maxCount);
86  }
87 }
88 
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy...
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
MaxPointCountDataPointsFilter(const Parameters &params=Parameters())
unsigned getNbPoints() const
Return the number of points contained in the point cloud.
Maximum number of points.
Definition: MaxPointCount.h:41
Parametrizable::Parameters Parameters
Definition: MaxPointCount.h:45
Functions and classes that are dependant on scalar type are defined in this templatized class...
Definition: PointMatcher.h:130
void swapCols(Index iCol, Index jCol)
Swap column i and j in the point cloud, swap also features and descriptors if any. Assumes sizes are similar.
const M::mapped_type & get(const M &m, const typename M::key_type &k)
The superclass of classes that are constructed using generic parameters. This class provides the para...
An exception thrown when one tries to fetch the value of an unexisting parameter. ...
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
PM::DataPointsFilter DataPointsFilter


libpointmatcher
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autogenerated on Sat May 27 2023 02:38:02