FixStepSampling.h
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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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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
40 template<typename T>
42 {
49 
51 
52  inline static const std::string description()
53  {
54  return "Subsampling. This filter reduces the size of the point cloud by only keeping one point over step ones; with step varying in time from startStep to endStep, each iteration getting multiplied by stepMult. If use as prefilter (i.e. before the iterations), only startStep is used.";
55  }
56  inline static const ParametersDoc availableParameters()
57  {
58  return {
59  {"startStep", "initial number of point to skip (initial decimation factor)", "10", "1", "2147483647", &P::Comp<unsigned>},
60  {"endStep", "maximal or minimal number of points to skip (final decimation factor)", "10", "1", "2147483647", &P::Comp<unsigned>},
61  {"stepMult", "multiplication factor to compute the new decimation factor for each iteration", "1", "0.0000001", "inf", &P::Comp<double>}
62  };
63  }
64 
65  // number of steps to skip
66  const unsigned startStep;
67  const unsigned endStep;
68  const double stepMult;
69 
70 protected:
71  double step;
72 
73 public:
76  virtual void init();
77  virtual DataPoints filter(const DataPoints& input);
78  virtual void inPlaceFilter(DataPoints& cloud);
79 };
FixStepSamplingDataPointsFilter
Systematic sampling, with variation over time.
Definition: FixStepSampling.h:41
FixStepSamplingDataPointsFilter::startStep
const unsigned startStep
Definition: FixStepSampling.h:66
FixStepSamplingDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: FixStepSampling.h:48
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
FixStepSamplingDataPointsFilter::step
double step
Definition: FixStepSampling.h:71
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
FixStepSamplingDataPointsFilter::init
virtual void init()
Init this filter.
Definition: FixStepSampling.cpp:56
FixStepSamplingDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: FixStepSampling.cpp:64
FixStepSamplingDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: FixStepSampling.h:43
testing::internal::string
::std::string string
Definition: gtest.h:1979
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
FixStepSamplingDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: FixStepSampling.h:50
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
FixStepSamplingDataPointsFilter::stepMult
const double stepMult
Definition: FixStepSampling.h:68
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
FixStepSamplingDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: FixStepSampling.h:44
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
FixStepSamplingDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: FixStepSampling.h:46
FixStepSamplingDataPointsFilter::endStep
const unsigned endStep
Definition: FixStepSampling.h:67
FixStepSamplingDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: FixStepSampling.h:45
PointMatcher.h
public interface
FixStepSamplingDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: FixStepSampling.h:47
FixStepSamplingDataPointsFilter::~FixStepSamplingDataPointsFilter
virtual ~FixStepSamplingDataPointsFilter()
Definition: FixStepSampling.h:75
FixStepSamplingDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: FixStepSampling.h:56
FixStepSamplingDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: FixStepSampling.cpp:73
FixStepSamplingDataPointsFilter::FixStepSamplingDataPointsFilter
FixStepSamplingDataPointsFilter(const Parameters &params=Parameters())
Definition: FixStepSampling.cpp:43
FixStepSamplingDataPointsFilter::description
static const std::string description()
Definition: FixStepSampling.h:52
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199


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