CutAtDescriptorThreshold.h
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3 /*
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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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 #include <string>
40 
42 template<typename T>
44 {
51 
54 
55  inline static const std::string description()
56  {
57  return "Subsampling. Cut points with value of a given descriptor above or below a given threshold.";
58  }
59  inline static const ParametersDoc availableParameters()
60  {
61  return {
62  {"descName", "Descriptor name used to cut points", "none"},
63  {"useLargerThan", "If set to 1 (true), points with values above the 'threshold' will be cut. If set to 0 (false), points with values below the 'threshold' will be cut.", "1", "0", "1", P::Comp<bool>},
64  {"threshold", "Value at which to cut.", "0", "-inf", "inf", &P::Comp<T>}
65  };
66  }
67 
69  const bool useLargerThan;
70  const T threshold;
71 
74  virtual DataPoints filter(const DataPoints& input);
75  virtual void inPlaceFilter(DataPoints& cloud);
76 };
CutAtDescriptorThresholdDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: CutAtDescriptorThreshold.cpp:62
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
CutAtDescriptorThresholdDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: CutAtDescriptorThreshold.h:48
build_map.T
T
Definition: build_map.py:34
CutAtDescriptorThresholdDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: CutAtDescriptorThreshold.h:59
CutAtDescriptorThresholdDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: CutAtDescriptorThreshold.h:47
CutAtDescriptorThresholdDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: CutAtDescriptorThreshold.h:46
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
CutAtDescriptorThresholdDataPointsFilter::CutAtDescriptorThresholdDataPointsFilter
CutAtDescriptorThresholdDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: CutAtDescriptorThreshold.cpp:41
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
CutAtDescriptorThresholdDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: CutAtDescriptorThreshold.h:49
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
CutAtDescriptorThresholdDataPointsFilter::threshold
const T threshold
Definition: CutAtDescriptorThreshold.h:70
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
CutAtDescriptorThresholdDataPointsFilter::descName
const std::string descName
Definition: CutAtDescriptorThreshold.h:68
CutAtDescriptorThresholdDataPointsFilter::useLargerThan
const bool useLargerThan
Definition: CutAtDescriptorThreshold.h:69
CutAtDescriptorThresholdDataPointsFilter::description
static const std::string description()
Definition: CutAtDescriptorThreshold.h:55
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
CutAtDescriptorThresholdDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: CutAtDescriptorThreshold.cpp:53
CutAtDescriptorThresholdDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: CutAtDescriptorThreshold.h:53
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
CutAtDescriptorThresholdDataPointsFilter
Subsampling. Cut points with value of a given descriptor above or below a given threshold.
Definition: CutAtDescriptorThreshold.h:43
PointMatcher.h
public interface
CutAtDescriptorThresholdDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: CutAtDescriptorThreshold.h:50
CutAtDescriptorThresholdDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: CutAtDescriptorThreshold.h:45
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
CutAtDescriptorThresholdDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: CutAtDescriptorThreshold.h:52


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