OutlierFiltersImpl.cpp
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4 
5 Copyright (c) 2010--2012,
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 
36 #include "OutlierFiltersImpl.h"
37 #include "PointMatcherPrivate.h"
38 #include "Functions.h"
39 #include "MatchersImpl.h"
40 
41 #include <algorithm>
42 #include <vector>
43 #include <iostream>
44 #include <limits>
45 #include <numeric>
46 #include <ciso646>
47 
48 using namespace std;
49 using namespace PointMatcherSupport;
50 
51 // NullOutlierFilter
52 template<typename T>
54  const DataPoints& filteredReading,
55  const DataPoints& filteredReference,
56  const Matches& input)
57 {
58  return OutlierWeights::Constant(input.ids.rows(), input.ids.cols(), 1);
59 }
60 
63 
64 
65 // MaxDistOutlierFilter
66 template<typename T>
68  OutlierFilter("MaxDistOutlierFilter", MaxDistOutlierFilter::availableParameters(), params),
69  maxDist(pow(Parametrizable::get<T>("maxDist"),2)) // we use the square distance later
70 {
71 }
72 
73 
74 template<typename T>
76  const DataPoints& filteredReading,
77  const DataPoints& filteredReference,
78  const Matches& input)
79 {
80  return OutlierWeights((input.dists.array() <= maxDist).template cast<T>());
81 }
82 
85 
86 // MinDistOutlierFilter
87 template<typename T>
89  OutlierFilter("MinDistOutlierFilter", MinDistOutlierFilter::availableParameters(), params),
90  minDist(pow(Parametrizable::get<T>("minDist"),2))// Note: we use the square distance later
91 {
92 }
93 
94 template<typename T>
96  const DataPoints& filteredReading,
97  const DataPoints& filteredReference,
98  const Matches& input)
99 {
100  return OutlierWeights((input.dists.array() >= minDist).template cast<T>());
101 }
102 
105 
106 
107 
108 // MedianDistOutlierFilter
109 template<typename T>
111  OutlierFilter("MedianDistOutlierFilter", MedianDistOutlierFilter::availableParameters(), params),
112  factor(Parametrizable::get<T>("factor"))
113 {
114 }
115 
116 template<typename T>
118  const DataPoints& filteredReading,
119  const DataPoints& filteredReference,
120  const Matches& input)
121 {
122  const T median = input.getDistsQuantile(0.5);
123  const T limit = factor * median;
124  return OutlierWeights((input.dists.array() <= limit).template cast<T>());
125 }
126 
129 
130 
131 // TrimmedDistOutlierFilter
132 template<typename T>
134  OutlierFilter("TrimmedDistOutlierFilter", TrimmedDistOutlierFilter::availableParameters(), params),
135  ratio(Parametrizable::get<T>("ratio"))
136 {
137 }
138 
139 template<typename T>
141  const DataPoints& filteredReading,
142  const DataPoints& filteredReference,
143  const Matches& input)
144 {
145  const T limit = input.getDistsQuantile(ratio);
146  return OutlierWeights((input.dists.array() <= limit).template cast<T>());
147 }
148 
151 
152 // VarTrimmedDistOutlierFilter
153 template<typename T>
155  OutlierFilter("VarTrimmedDistOutlierFilter", VarTrimmedDistOutlierFilter::availableParameters(), params),
156  minRatio(Parametrizable::get<T>("minRatio")),
157  maxRatio(Parametrizable::get<T>("maxRatio")),
158  lambda(Parametrizable::get<T>("lambda"))
159 {
160  if (this->minRatio >= this->maxRatio)
161  {
162  throw InvalidParameter((boost::format("VarTrimmedDistOutlierFilter: minRatio (%1%) should be smaller than maxRatio (%2%)") % minRatio % maxRatio).str());
163  }
164 }
165 
166 template<typename T>
168  const DataPoints& filteredReading,
169  const DataPoints& filteredReference,
170  const Matches& input)
171 {
172  const T tunedRatio = optimizeInlierRatio(input);
173  LOG_INFO_STREAM("Optimized ratio: " << tunedRatio);
174 
175  const T limit = input.getDistsQuantile(tunedRatio);
176  return OutlierWeights((input.dists.array() <= limit).template cast<T>());
177 }
178 
179 template<typename T>
181 {
182  typedef typename PointMatcher<T>::ConvergenceError ConvergenceError;
183  typedef typename Eigen::Array<T, Eigen::Dynamic, 1> LineArray;
184 
185  const int points_nbr = matches.dists.rows() * matches.dists.cols();
186 
187  // vector containing the squared distances of the matches
188  std::vector<T> tmpSortedDist;
189  tmpSortedDist.reserve(points_nbr);
190  for (int x = 0; x < matches.dists.cols(); ++x)
191  for (int y = 0; y < matches.dists.rows(); ++y)
192  if ((matches.dists(y, x) != numeric_limits<T>::infinity()) && (matches.dists(y, x) > 0))
193  tmpSortedDist.push_back(matches.dists(y, x));
194  if (tmpSortedDist.empty())
195  throw ConvergenceError("Inlier ratio optimization failed due to absence of matches");
196 
197  std::sort(tmpSortedDist.begin(), tmpSortedDist.end());
198  std::vector<T> tmpCumSumSortedDist;
199  tmpCumSumSortedDist.reserve(points_nbr);
200  std::partial_sum(tmpSortedDist.begin(), tmpSortedDist.end(), tmpCumSumSortedDist.begin());
201 
202  const int minEl = floor(this->minRatio*points_nbr);
203  const int maxEl = floor(this->maxRatio*points_nbr);
204 
205  // Return std::vector to an eigen::vector
206  Eigen::Map<LineArray> sortedDist(&tmpCumSumSortedDist[0], points_nbr);
207 
208  const LineArray trunkSortedDist = sortedDist.segment(minEl, maxEl-minEl);
209 
210  const LineArray ids = LineArray::LinSpaced(trunkSortedDist.rows(), minEl+1, maxEl);
211  const LineArray ratio = ids / points_nbr; // ratio for each of element between minEl and maxEl
212  const LineArray deno = ratio.pow(this->lambda); // f^λ
213  // frms = cumSumDists[minEl:maxEl] / id / (f^λ)²
214  const LineArray FRMS = trunkSortedDist * ids.inverse() * deno.inverse().square() ;
215  int minIndex(0);// = FRMS.minCoeff();
216  FRMS.minCoeff(&minIndex);
217  const T optRatio = (float)(minIndex + minEl)/ (float)points_nbr;
218 
219  return optRatio;
220 }
221 
224 
225 // SurfaceNormalOutlierFilter
226 template<typename T>
228  OutlierFilter("SurfaceNormalOutlierFilter", SurfaceNormalOutlierFilter::availableParameters(), params),
229  eps(cos(Parametrizable::get<T>("maxAngle"))),
230  warningPrinted(false)
231 {
232  //warning: eps is change to cos(maxAngle)!
233 }
234 
235 template<typename T>
237  const DataPoints& filteredReading,
238  const DataPoints& filteredReference,
239  const Matches& input)
240 {
241  const BOOST_AUTO(normalsReading, filteredReading.getDescriptorViewByName("normals"));
242  const BOOST_AUTO(normalsReference, filteredReference.getDescriptorViewByName("normals"));
243 
244  // select weight from median
245  OutlierWeights w(input.dists.rows(), input.dists.cols());
246 
247  if(normalsReading.cols() != 0 && normalsReference.cols() != 0)
248  {
249  for (int x = 0; x < w.cols(); ++x) // pts in reading
250  {
251  const Vector normalRead = normalsReading.col(x).normalized();
252 
253  for (int y = 0; y < w.rows(); ++y) // knn
254  {
255  const int idRef = input.ids(y, x);
256 
257  if (idRef == MatchersImpl<T>::NNS::InvalidIndex) {
258  w(y, x) = 0;
259  continue;
260  }
261 
262  const Vector normalRef = normalsReference.col(idRef).normalized();
263 
264  const T value = normalRead.dot(normalRef);
265 
266  if(value < eps) // test to keep the points
267  w(y, x) = 0;
268  else
269  w(y, x) = 1;
270  }
271  }
272  }
273  else
274  {
275  if(warningPrinted == false)
276  {
277  LOG_INFO_STREAM("SurfaceNormalOutlierFilter: surface normals not available. Skipping filtering");
278  warningPrinted = true;
279  }
280 
281  w = Matrix::Ones(input.dists.rows(), input.dists.cols());
282  }
283  //abort();
284  return w;
285 }
286 
289 
290 // GenericDescriptorOutlierFilter
291 template<typename T>
293  OutlierFilter("GenericDescriptorOutlierFilter", GenericDescriptorOutlierFilter::availableParameters(), params),
294  source(Parametrizable::getParamValueString("source")),
295  descName(Parametrizable::getParamValueString("descName")),
296  useSoftThreshold(Parametrizable::get<bool>("useSoftThreshold")),
297  useLargerThan(Parametrizable::get<bool>("useLargerThan")),
298  threshold(Parametrizable::get<T>("threshold"))
299 {
300  if(source != "reference" && source != "reading")
301  {
302  throw InvalidParameter(
303  (boost::format("GenericDescriptorOutlierFilter: Error, the parameter named 'source' can only be set to 'reference' or 'reading' but was set to %1%") % source).str());
304  }
305 }
306 
307 template<typename T>
309  const DataPoints& filteredReading,
310  const DataPoints& filteredReference,
311  const Matches& input)
312 {
313  typedef typename DataPoints::ConstView ConstView;
314 
315  const int knn = input.dists.rows();
316  const int readPtsCount = input.dists.cols();
317 
318  OutlierWeights w(knn, readPtsCount);
319 
320  const DataPoints *cloud;
321 
322  if(source == "reference")
323  cloud = &filteredReference;
324  else
325  cloud = &filteredReading;
326 
327  ConstView desc(cloud->getDescriptorViewByName(descName));
328 
329  if(desc.rows() != 1)
330  {
331  throw InvalidParameter(
332  (boost::format("GenericDescriptorOutlierFilter: Error, the parameter named 'descName' must be a 1D descriptor but the field %1% is %2%D") % descName % desc.rows()).str());
333  }
334 
335  for(int k=0; k < knn; k++)
336  {
337  for(int i=0; i < readPtsCount; i++)
338  {
339  int point_id;
340  if (source == "reference") {
341  point_id = input.ids(k, i);
342  if (point_id == MatchersImpl<T>::NNS::InvalidIndex){
343  LOG_INFO_STREAM("Invalid Index in GenericOutlierFilter, setting weight to 0.");
344  w(k,i) = 0;
345  continue;
346  }
347  } else {
348  // We don't need to look up corresponding points in the reference
349  //, we index into the reading PC directly.
350  point_id = i;
351  }
352  if(useSoftThreshold == false)
353  {
354  if(useLargerThan == true)
355  {
356  if (desc(0, point_id) > threshold)
357  w(k,i) = 1;
358  else
359  w(k,i) = 0;
360  }
361  else
362  {
363  if (desc(0, point_id) < threshold)
364  w(k,i) = 1;
365  else
366  w(k,i) = 0;
367  }
368  }
369  else
370  {
371  // use soft threshold by assigning the weight using the descriptor
372  w(k,i) = desc(0, point_id);
373  }
374  }
375  }
376 
377  //Normalize
378  if(useSoftThreshold)
379  w = w/w.maxCoeff();
380 
381  return w;
382 }
383 
386 
387 // RobustOutlierFilter
388 template<typename T>
391  {"cauchy", RobustFctId::Cauchy},
392  {"welsch", RobustFctId::Welsch},
393  {"sc", RobustFctId::SwitchableConstraint},
394  {"gm", RobustFctId::GM},
395  {"tukey", RobustFctId::Tukey},
396  {"huber", RobustFctId::Huber},
397  {"L1", RobustFctId::L1},
398  {"student", RobustFctId::Student}
399 };
400 
401 template<typename T>
403  const ParametersDoc paramsDoc,
404  const Parameters& params):
405  OutlierFilter(className, paramsDoc, params),
406  robustFctName(Parametrizable::get<string>("robustFct")),
407  tuning(Parametrizable::get<T>("tuning")),
408  squaredApproximation(pow(Parametrizable::get<T>("approximation"), 2)),
409  scaleEstimator(Parametrizable::get<string>("scaleEstimator")),
410  nbIterationForScale(Parametrizable::get<int>("nbIterationForScale")),
411  distanceType(Parametrizable::get<string>("distanceType")),
412  robustFctId(-1),
413  iteration(1),
414  scale(0.0),
415  berg_target_scale(0)
416 {
417  const set<string> validScaleEstimator = {"none", "mad", "berg", "std"};
418  if (validScaleEstimator.find(scaleEstimator) == validScaleEstimator.end()) {
419  throw InvalidParameter("Invalid scale estimator name.");
420  }
421  const set<string> validDistanceType = {"point2point", "point2plane"};
422  if (validDistanceType.find(distanceType) == validDistanceType.end()) {
423  throw InvalidParameter("Invalid distance type name.");
424  }
425 
427 
428  if (scaleEstimator == "berg") {
430 
431  // See \cite{Bergstrom2014}
432  if (robustFctId == RobustFctId::Cauchy)
433  {
434  tuning = 4.3040;
435  } else if (robustFctId == RobustFctId::Tukey)
436  {
437  tuning = 7.0589;
438  } else if (robustFctId == RobustFctId::Huber)
439  {
440  tuning = 2.0138;
441  }
442  }
443 }
444 
445 template<typename T>
447  RobustOutlierFilter("RobustOutlierFilter", RobustOutlierFilter::availableParameters(), params)
448 {
449 }
450 
451 
452 template<typename T>
454  if (robustFcts.find(robustFctName) == robustFcts.end())
455  {
456  throw InvalidParameter("Invalid robust function name.");
457  }
458  robustFctId = robustFcts[robustFctName];
459 }
460 
461  template<typename T>
463  const DataPoints& filteredReading,
464  const DataPoints& filteredReference,
465  const Matches& input)
466 {
467  return this->robustFiltering(filteredReading, filteredReference, input);
468 }
469 
470 
471 
472 template<typename T>
475  const DataPoints& reading,
476  const DataPoints& reference,
477  const Matches& input) {
478 
479  int nbr_read_point = input.dists.cols();
480  int nbr_match = input.dists.rows();
481 
482  Matrix normals = reference.getDescriptorViewByName("normals");
483 
484  Vector reading_point(Vector::Zero(3));
485  Vector reference_point(Vector::Zero(3));
486  Vector normal(3);
487 
488  Matrix dists(Matrix::Zero(nbr_match, nbr_read_point));
489 
490  for(int i = 0; i < nbr_read_point; ++i)
491  {
492  reading_point = reading.features.block(0, i, 3, 1);
493  for(int j = 0; j < nbr_match; ++j)
494  {
495  const int reference_idx = input.ids(j, i);
496  if (reference_idx != Matches::InvalidId) {
497  reference_point = reference.features.block(0, reference_idx, 3, 1);
498 
499  normal = normals.col(reference_idx).normalized();
500  // distance_point_to_plan = dot(n, p-q)²
501  dists(j, i) = pow(normal.dot(reading_point-reference_point), 2);
502  }
503  }
504  }
505 
506  return dists;
507 }
508 
509 template<typename T>
511  const DataPoints& filteredReading,
512  const DataPoints& filteredReference,
513  const Matches& input) {
514 
515  if (scaleEstimator == "mad")
516  {
517  if (iteration <= nbIterationForScale or nbIterationForScale == 0)
518  {
519  scale = sqrt(input.getMedianAbsDeviation());
520  }
521  } else if (scaleEstimator == "std")
522  {
523  if (iteration <= nbIterationForScale or nbIterationForScale == 0)
524  {
525  scale = sqrt(input.getStandardDeviation());
526  }
527  } else if (scaleEstimator == "berg")
528  {
529  if (iteration <= nbIterationForScale or nbIterationForScale == 0)
530  {
531  // The tuning constant is the target scale that we want to reach
532  // It's a bit confusing to use the tuning constant for scaling...
533  if (iteration == 1)
534  {
535  scale = 1.9 * sqrt(input.getDistsQuantile(0.5));
536  }
537  else
538  { // TODO: maybe add it has another parameter or make him a function of the max iteration
539  const T CONVERGENCE_RATE = 0.85;
540  scale = CONVERGENCE_RATE * (scale - berg_target_scale) + berg_target_scale;
541  }
542  }
543  }
544  else
545  {
546  scale = 1.0; // We don't rescale
547  }
548  iteration++;
549 
550  Matrix dists = distanceType == "point2point" ? input.dists : computePointToPlaneDistance(filteredReading, filteredReference, input);
551 
552  // e² = scaled squared distance
553  Array e2 = dists.array() / (scale * scale);
554 
555  T k = tuning;
556  const T k2 = k * k;
557  Array w, aboveThres, belowThres;
558  switch (robustFctId) {
559  case RobustFctId::Cauchy: // 1/(1 + e²/k²)
560  w = (1 + e2 / k2).inverse();
561  break;
562  case RobustFctId::Welsch: // exp(-e²/k²)
563  w = (-e2 / k2).exp();
564  break;
565  case RobustFctId::SwitchableConstraint: // if e² > k then 4 * k²/(k + e²)²
566  aboveThres = 4.0 * k2 * ((k + e2).square()).inverse();
567  w = (e2 >= k).select(aboveThres, 1.0);
568  break;
569  case RobustFctId::GM: // k²/(k + e²)²
570  w = k2*((k + e2).square()).inverse();
571  break;
572  case RobustFctId::Tukey: // if e² < k² then (1-e²/k²)²
573  belowThres = (1 - e2 / k2).square();
574  w = (e2 >= k2).select(0.0, belowThres);
575  break;
576  case RobustFctId::Huber: // if |e| >= k then k/|e| = k/sqrt(e²)
577  aboveThres = k * (e2.sqrt().inverse());
578  w = (e2 >= k2).select(aboveThres, 1.0);
579  break;
580  case RobustFctId::L1: // 1/|e| = 1/sqrt(e²)
581  w = e2.sqrt().inverse();
582  break;
583  case RobustFctId::Student: { // ....
584  const T d = 3;
585  auto p = (1 + e2 / k).pow(-(k + d) / 2);
586  w = p * (k + d) * (k + e2).inverse();
587  break;
588  }
589  default:
590  break;
591  }
592 
593  // In the minimizer, zero weight are ignored, we want them to be notice by having the smallest value
594  // The value can not be a numeric limit, since they might cause a nan/inf.
595  const double ARBITRARY_SMALL_VALUE = 1e-50;
596  w = (w.array() <= ARBITRARY_SMALL_VALUE).select(ARBITRARY_SMALL_VALUE, w);
597 
598 
599  if(squaredApproximation != std::numeric_limits<T>::infinity())
600  {
601  //Note from Eigen documentation: (if statement).select(then matrix, else matrix)
602  w = (e2 >= squaredApproximation).select(0.0, w);
603  }
604 
605  return w;
606 }
607 
608 
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MinDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:88
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reference
Definition: compute_overlap.py:71
OutlierFiltersImpl::RobustOutlierFilter::robustFiltering
virtual OutlierWeights robustFiltering(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Definition: OutlierFiltersImpl.cpp:510
OutlierFiltersImpl::RobustOutlierFilter::RobustOutlierFilter
RobustOutlierFilter(const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
Definition: OutlierFiltersImpl.cpp:402
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Definition: OutlierFiltersImpl.h:176
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Definition: OutlierFiltersImpl.h:196
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Dists dists
squared distances to closest points
Definition: PointMatcher.h:384
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virtual void resolveEstimatorName()
Definition: OutlierFiltersImpl.cpp:453
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int knn
Definition: compute_overlap.py:128
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T getMedianAbsDeviation() const
Calculate the Median of Absolute Deviation(MAD), which is median(|x-median(x)|), a kind of robust sta...
Definition: Matches.cpp:91
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Ids ids
identifiers of closest points
Definition: PointMatcher.h:385
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Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
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T
Definition: build_map.py:34
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::VarTrimmedDistOutlierFilter
VarTrimmedDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:154
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#define LOG_INFO_STREAM(args)
Definition: PointMatcherPrivate.h:58
OutlierFiltersImpl.h
OutlierFiltersImpl::MedianDistOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:117
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PointMatcher< T >::OutlierWeights OutlierWeights
Definition: OutlierFiltersImpl.h:54
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virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:140
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Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:95
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const std::string source
Definition: OutlierFiltersImpl.h:213
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Definition: PointMatcher.h:500
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T berg_target_scale
Definition: OutlierFiltersImpl.h:273
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Matrix computePointToPlaneDistance(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Definition: OutlierFiltersImpl.cpp:474
PointMatcherPrivate.h
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Point matcher did not converge.
Definition: PointMatcher.h:148
OutlierFiltersImpl::NullOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:53
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Definition: OutlierFiltersImpl.h:56
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A point cloud.
Definition: PointMatcher.h:207
x
x
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Definition: OutlierFiltersImpl.h:59
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Definition: OutlierFiltersImpl.h:55
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SurfaceNormalOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:227
testing::internal::string
::std::string string
Definition: gtest.h:1979
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int robustFctId
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autogenerated on Mon Sep 16 2024 02:24:09