CovarianceSampling.h
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4 
5 Copyright (c) 2010--2018,
6 Fran├žois 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 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 template<typename T>
41 {
42  // Type definitions
44  typedef typename PM::DataPoints DataPoints;
46 
53 
54  typedef typename DataPoints::Index Index;
55 
57 
58  typedef typename PointMatcher<T>::Vector Vector;
59  typedef typename PointMatcher<T>::Matrix Matrix;
60 
61  using Matrix66 = Eigen::Matrix<T, 6, 6>;
62  using Vector6 = Eigen::Matrix<T, 6, 1>;
63  using Vector3 = Eigen::Matrix<T, 3, 1>;
64 
65  inline static const std::string description()
66  {
67  return "Covariance Sampling (CovS) \\cite{Gelfand2003}. Performs stability analysis to select geometrically stable points that can bind the rotational components as well as the translational. Uses an estimate of the covariance matrix to detect pair of points which will not be constrained.";
68  }
69 
70  inline static const ParametersDoc availableParameters()
71  {
72  return {
73  {"nbSample", "Number of point to select.", "5000", "1", "4294967295", &P::Comp<std::size_t>},
74  {"torqueNorm", "Method for torque normalization: (0) L=1 (no normalization, more t-normals), (1) L=Lavg (average distance, torque is scale-independent), (2) L=Lmax (scale in unit ball, more r-normals)", "1", "0", "2", &P::Comp<std::uint8_t>}
75  };
76  }
77 
78  enum TorqueNormMethod : std::uint8_t { L1=0, Lavg=1, Lmax=2 };
79 
80  std::size_t nbSample;
82 
83  //Ctor, uses parameter interface
85  //CovarianceSamplingDataPointsFilter();
86 
87  //Dtor
89 
90  virtual DataPoints filter(const DataPoints& input);
91  virtual void inPlaceFilter(DataPoints& cloud);
92 
93  static T computeConditionNumber(const Matrix66 &cov);
94 };
95 
96 
CovarianceSamplingDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: CovarianceSampling.h:52
CovarianceSamplingDataPointsFilter::normalizationMethod
TorqueNormMethod normalizationMethod
Definition: CovarianceSampling.h:81
CovarianceSamplingDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: CovarianceSampling.h:51
CovarianceSamplingDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: CovarianceSampling.cpp:66
build_map.T
T
Definition: build_map.py:34
CovarianceSamplingDataPointsFilter::description
static const std::string description()
Definition: CovarianceSampling.h:65
CovarianceSamplingDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: CovarianceSampling.h:56
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
CovarianceSamplingDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: CovarianceSampling.cpp:74
testing::internal::string
::std::string string
Definition: gtest.h:1979
CovarianceSamplingDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: CovarianceSampling.h:49
CovarianceSamplingDataPointsFilter::CovarianceSamplingDataPointsFilter
CovarianceSamplingDataPointsFilter(const Parameters &params=Parameters())
Definition: CovarianceSampling.cpp:48
CovarianceSamplingDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: CovarianceSampling.h:58
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
CovarianceSamplingDataPointsFilter::nbSample
std::size_t nbSample
Definition: CovarianceSampling.h:80
CovarianceSamplingDataPointsFilter::~CovarianceSamplingDataPointsFilter
virtual ~CovarianceSamplingDataPointsFilter()
Definition: CovarianceSampling.h:88
CovarianceSamplingDataPointsFilter::Matrix
PointMatcher< T >::Matrix Matrix
Definition: CovarianceSampling.h:59
CovarianceSamplingDataPointsFilter::Index
DataPoints::Index Index
Definition: CovarianceSampling.h:54
CovarianceSamplingDataPointsFilter::PM
PointMatcher< T > PM
Definition: CovarianceSampling.h:43
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
CovarianceSamplingDataPointsFilter::Lavg
@ Lavg
Definition: CovarianceSampling.h:78
CovarianceSamplingDataPointsFilter::DataPoints
PM::DataPoints DataPoints
Definition: CovarianceSampling.h:44
CovarianceSamplingDataPointsFilter::Vector3
Eigen::Matrix< T, 3, 1 > Vector3
Definition: CovarianceSampling.h:63
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:440
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
CovarianceSamplingDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: CovarianceSampling.h:50
CovarianceSamplingDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: CovarianceSampling.h:47
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointMatcher::DataPoints::Index
Matrix::Index Index
An index to a row or a column.
Definition: PointMatcher.h:218
CovarianceSamplingDataPointsFilter::Lmax
@ Lmax
Definition: CovarianceSampling.h:78
CovarianceSamplingDataPointsFilter
Definition: CovarianceSampling.h:40
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
CovarianceSamplingDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: CovarianceSampling.h:70
CovarianceSamplingDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: CovarianceSampling.h:48
CovarianceSamplingDataPointsFilter::computeConditionNumber
static T computeConditionNumber(const Matrix66 &cov)
Definition: CovarianceSampling.cpp:255
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
CovarianceSamplingDataPointsFilter::Matrix66
Eigen::Matrix< T, 6, 6 > Matrix66
Definition: CovarianceSampling.h:61
CovarianceSamplingDataPointsFilter::Vector6
Eigen::Matrix< T, 6, 1 > Vector6
Definition: CovarianceSampling.h:62
PointMatcher.h
public interface
CovarianceSamplingDataPointsFilter::L1
@ L1
Definition: CovarianceSampling.h:78
CovarianceSamplingDataPointsFilter::TorqueNormMethod
TorqueNormMethod
Definition: CovarianceSampling.h:78
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
CovarianceSamplingDataPointsFilter::DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: CovarianceSampling.h:45


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