OutlierFilter.cpp
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3 /*
4 
5 Copyright (c) 2010--2012,
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>
9 
10 All rights reserved.
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23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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34 */
35 
36 #include "PointMatcher.h"
37 #include "PointMatcherPrivate.h"
38 #include <limits>
39 
40 using namespace std;
41 
43 template<typename T>
45 {}
46 
48 template<typename T>
50  Parametrizable(className,paramsDoc,params)
51 {}
52 
54 template<typename T>
56 {}
57 
60 
61 
63 template<typename T>
65  const DataPoints& filteredReading,
66  const DataPoints& filteredReference,
67  const Matches& input)
68 {
69  //FIXME: Why we filter infinit distance only when no filter?
70  if (this->empty())
71  {
72  // we do not have any filter, therefore we must put 0 weights for infinite distances
73  OutlierWeights w(input.dists.rows(), input.dists.cols());
74  for (int x = 0; x < w.cols(); ++x)
75  {
76  for (int y = 0; y < w.rows(); ++y)
77  {
78  if (input.dists(y, x) == numeric_limits<T>::infinity())
79  w(y, x) = 0;
80  else
81  w(y, x) = 1;
82  }
83  }
84  return w;
85  }
86  else
87  {
88  // apply filters, they should take care of infinite distances
89  //LOG_INFO_STREAM("Applying " << this->size() << " Outlier filters" );
90  OutlierWeights w = (*this->begin())->compute(filteredReading, filteredReference, input);
91  //LOG_INFO_STREAM("* " << (*this->begin())->className );
92  if (this->size() > 1)
93  {
94  for (OutlierFiltersConstIt it = (this->begin() + 1); it != this->end(); ++it)
95  {
96  w = w.array() * (*it)->compute(filteredReading, filteredReference, input).array();
97  //LOG_INFO_STREAM("* " << (*it)->className );
98  }
99  }
100 
101  return w;
102  }
103 }
104 
105 
106 
PointMatcher::OutlierFilters
A chain of OutlierFilter.
Definition: PointMatcher.h:512
PointMatcher::Matches::dists
Dists dists
squared distances to closest points
Definition: PointMatcher.h:384
PointMatcher::OutlierFilter::~OutlierFilter
virtual ~OutlierFilter()
virtual destructor
Definition: OutlierFilter.cpp:55
PointMatcher::OutlierFiltersConstIt
OutlierFilters::const_iterator OutlierFiltersConstIt
alias
Definition: PointMatcher.h:519
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
PointMatcher::OutlierFilter
An outlier filter removes or weights links between points in reading and their matched points in refe...
Definition: PointMatcher.h:499
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcherPrivate.h
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
x
x
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::OutlierFilters::compute
OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Apply outlier-detection chain.
Definition: OutlierFilter.cpp:64
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
PointMatcher::OutlierFilter::OutlierFilter
OutlierFilter()
Construct without parameter.
Definition: OutlierFilter.cpp:44
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
std
build_map.end
end
Definition: build_map.py:79
PointMatcher.h
public interface
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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