MinDist.cpp
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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>
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35 #include "MinDist.h"
36 
37 #include "Functions.h"
38 
39 // MinDistDataPointsFilter
40 // Constructor
41 template<typename T>
43  PointMatcher<T>::DataPointsFilter("MinDistDataPointsFilter",
44  MinDistDataPointsFilter::availableParameters(), params),
45  dim(Parametrizable::get<unsigned>("dim")),
46  minDist(Parametrizable::get<T>("minDist"))
47 {
48 }
49 
50 // Compute
51 template<typename T>
53  const DataPoints& input)
54 {
55  DataPoints output(input);
56  inPlaceFilter(output);
57  return output;
58 }
59 
60 // In-place filter
61 template<typename T>
63  DataPoints& cloud)
64 {
65  using namespace PointMatcherSupport;
66 
67  if (dim >= cloud.features.rows() - 1)
68  throw InvalidParameter((boost::format("MinDistDataPointsFilter: Error, filtering on dimension number %1%, larger than feature dimensionality %2%") % dim % (cloud.features.rows() - 2)).str());
69 
70  const int nbPointsIn = cloud.features.cols();
71  const int nbRows = cloud.features.rows();
72 
73  int j = 0;
74  if(dim == -1) // Euclidean distance
75  {
76  const T absMinDist = anyabs(minDist);
77  for (int i = 0; i < nbPointsIn; ++i)
78  {
79  if (cloud.features.col(i).head(nbRows-1).norm() > absMinDist)
80  {
81  cloud.setColFrom(j, cloud, i);
82  ++j;
83  }
84  }
85  }
86  else // Single axis distance
87  {
88  for (int i = 0; i < nbPointsIn; ++i)
89  {
90  if ((cloud.features(dim, i)) > minDist)
91  {
92  cloud.setColFrom(j, cloud, i);
93  ++j;
94  }
95  }
96  }
97 
98  cloud.conservativeResize(j);
99 
100 }
101 
102 template struct MinDistDataPointsFilter<float>;
103 template struct MinDistDataPointsFilter<double>;
Parametrizable::InvalidParameter InvalidParameter
Definition: MinDist.h:48
Parametrizable::Parameters Parameters
Definition: MinDist.h:45
void setColFrom(Index thisCol, const DataPoints &that, Index thatCol)
Set column thisCol equal to column thatCol of that, copy features and descriptors if any...
Functions and classes that are not dependant on scalar type are defined in this namespace.
Functions and classes that are dependant on scalar type are defined in this templatized class...
Definition: PointMatcher.h:130
const M::mapped_type & get(const M &m, const typename M::key_type &k)
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: MinDist.cpp:62
The superclass of classes that are constructed using generic parameters. This class provides the para...
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Subsampling. Filter points before a minimum distance measured on a specific axis. ...
Definition: MinDist.h:41
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
PM::DataPointsFilter DataPointsFilter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy...
Definition: MinDist.cpp:52
static T anyabs(const T &v)
Definition: Functions.h:44
MinDistDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: MinDist.cpp:42


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autogenerated on Sat May 27 2023 02:38:02