OutlierFiltersImpl.h
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35 
36 #ifndef __POINTMATCHER_OUTLIERFILTERS_H
37 #define __POINTMATCHER_OUTLIERFILTERS_H
38 
39 #include "PointMatcher.h"
40 
41 template<typename T>
43 {
50 
55  typedef typename PointMatcher<T>::Matrix Matrix;
56  typedef typename PointMatcher<T>::Array Array;
57  typedef typename PointMatcher<T>::Vector Vector;
58 
60  {
61  inline static const std::string description()
62  {
63  return "Does nothing.";
64  }
65 
66  NullOutlierFilter() : OutlierFilter("NullOutlierFilter", ParametersDoc(), Parameters()) {}
67  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
68  };
69 
71  {
72  inline static const std::string description()
73  {
74  return "This filter considers as outlier links whose norms are above a fix threshold.";
75  }
76  inline static const ParametersDoc availableParameters()
77  {
78  return {
79  {"maxDist", "threshold distance (Euclidean norm)", "1", "0.0000001", "inf", &P::Comp<T>}
80  };
81  }
82 
83  const T maxDist;
84 
86  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
87  };
88 
89  //FIXME: is that useful in any case?
91  {
92  inline static const std::string description()
93  {
94  return "This filter considers as outlier links whose norms are below a threshold.";
95  }
96  inline static const ParametersDoc availableParameters()
97  {
98  return {
99  {"minDist","threshold distance (Euclidean norm)", "1", "0.0000001", "inf", &P::Comp<T> }
100  };
101  }
102 
103  const T minDist;
104 
106  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
107  };
108 
110  {
111  inline static const std::string description()
112  {
113  return "This filter considers as outlier links whose norms are above the median link norms times a factor. Based on \\cite{Diebel2004Median}.";
114  }
115  inline static const ParametersDoc availableParameters()
116  {
117  return {
118  {"factor","points farther away factor * median will be considered outliers.", "3", "0.0000001", "inf", &P::Comp <T>}
119  };
120  }
121 
122  const T factor;
123 
125  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
126  };
127 
129  {
130  inline static const std::string description()
131  {
132  return "Hard rejection threshold using quantile. This filter considers as inlier a certain percentage of the links with the smallest norms. Based on \\cite{Chetverikov2002Trimmed}.";
133  }
134  inline static const ParametersDoc availableParameters()
135  {
136  return {
137  {"ratio", "percentage to keep", "0.85", "0.0000001", "1.0", &P::Comp<T>}
138  };
139  }
140 
141  const T ratio;
142 
144  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
145  };
146 
148  {
149  inline static const std::string description()
150  {
151  return "Hard rejection threshold using quantile and variable ratio. Based on \\cite{Phillips2007VarTrimmed}.";
152  }
153  inline static const ParametersDoc availableParameters()
154  {
155  return {
156  {"minRatio", "min ratio", "0.05","0.0000001", "1", &P::Comp<T>},
157  {"maxRatio", "max ratio", "0.99", "0.0000001", "1", &P::Comp<T>},
158  {"lambda", "lambda (part of the term that balance the rmsd: 1/ratio^lambda", "2.35"}
159  };
160  }
161 
162  const T minRatio;
163  const T maxRatio;
164  const T lambda;
165 
167  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
168 
169  private:
170  // return the optimized ratio
172  };
173 
174 
175  // ---------------------------------
177  {
178  inline static const std::string description()
179  {
180  return "Hard rejection threshold using the angle between the surface normal vector of the reading and the reference. Usually used in combination with `OrientNormalDataPointsFilter`. If normal vectors are not in the descriptor for both of the point clouds, does nothing.";
181  }
182  inline static const ParametersDoc availableParameters()
183  {
184  return {
185  {"maxAngle", "Maximum authorised angle between the 2 surface normals (in radian)", "1.57", "0.0", "3.1416", &P::Comp<T>}
186  };
187  }
188 
189  const T eps;
191 
193  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
194  };
195 
197  {
198  inline static const std::string description()
199  {
200  return "This filter weights matched points based on a 1D descriptor of either a single point cloud (either the reference or the reading). The descriptor values must be larger than zero.";
201  }
202  inline static const ParametersDoc availableParameters()
203  {
204  return {
205  { "source", "Point cloud from which the descriptor will be used: reference or reading", "reference"},
206  { "descName", "Descriptor name used to weight paired points", "none"},
207  { "useSoftThreshold", "If set to 1 (true), uses the value of the descriptor as a weight. If set to 0 (false), uses the parameter 'threshold' to set binary weights.", "0", "0", "1", P::Comp<bool>},
208  { "useLargerThan", "If set to 1 (true), values over the 'threshold' will have a weight of one. If set to 0 (false), values under the 'threshold' will have a weight of one. All other values will have a weight of zero.", "1", "0", "1", P::Comp<bool>},
209  { "threshold", "Value used to determine the binary weights", "0.1", "0.0000001", "inf", &P::Comp<T>}
210  };
211  }
212 
215  const bool useSoftThreshold;
216  const bool useLargerThan;
217  const T threshold;
218 
220  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
221  };
222 
224  {
225 
226  inline static const std::string description()
227  {
228  return "Robust weight function. 8 robust functions to choose from (Cauchy, Welsch, Switchable Constraint, Geman-McClure, Tukey, Huber, L1 and Student). All the functions are M-Estimator (\\cite{RobustWeightFunctions}) except L1 and Student.";
229  }
230  inline static const ParametersDoc availableParameters()
231  {
232  return {
233  {"robustFct", "Type of robust function used. Available fct: 'cauchy', 'welsch', 'sc'(aka Switchable-Constraint), 'gm' (aka Geman-McClure), 'tukey', 'huber' and 'L1'. (Default: cauchy)", "cauchy"},
234  {"tuning", "Tuning parameter used to limit the influence of outliers."
235  "If the 'scaleEstimator' is 'mad' or 'none', this parameter acts as the tuning parameter."
236  "If the 'scaleEstimator' is 'berg' this parameter acts as the target scale (σ*).", "1.0", "0.0000001", "inf", &P::Comp<T>},
237  {"scaleEstimator", "The scale estimator is used to convert the error distance into a Mahalanobis distance. 3 estimators are available: "
238  "'none': no estimator (scale = 1), "
239  "'mad': use the median of absolute deviation (a kind of robust standard deviation), "
240  "'berg': an iterative exponentially decreasing estimator", "mad"},
241  {"nbIterationForScale", "For how many iteration the 'scaleEstimator' is recalculated. After 'nbIterationForScale' iteration the previous scale is kept. A nbIterationForScale==0 means that the estiamtor is recalculated at each iteration.", "0", "0", "100", &P::Comp<int>},
242  {"distanceType", "Type of error distance used, either point to point ('point2point') or point to plane('point2plane'). Point to point gives better result normally.", "point2point"},
243  {"approximation", "If the matched distance is larger than this threshold, its weight will be forced to zero. This can save computation as zero values are not minimized. If set to inf (default value), no approximation is done. The unit of this parameter is the same as the distance used, typically meters.", "inf", "0.0", "inf", &P::Comp<T>}
244  };
245  }
246 
247  Matrix computePointToPlaneDistance(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
248  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
249  RobustOutlierFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
251  protected:
252  enum RobustFctId {
256  GM=3,
257  Tukey=4,
258  Huber=5,
259  L1=6,
261  };
262  typedef std::map<std::string, RobustFctId> RobustFctMap;
274 
275 
276  virtual void resolveEstimatorName();
277  virtual OutlierWeights robustFiltering(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
278  };
279 
280 }; // OutlierFiltersImpl
281 
282 #endif // __POINTMATCHER_OUTLIERFILTERS_H
OutlierFiltersImpl::MinDistOutlierFilter::MinDistOutlierFilter
MinDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:88
OutlierFiltersImpl::RobustOutlierFilter::squaredApproximation
const T squaredApproximation
Definition: OutlierFiltersImpl.h:266
OutlierFiltersImpl::TrimmedDistOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:130
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
OutlierFiltersImpl::RobustOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:226
OutlierFiltersImpl::MaxDistOutlierFilter::maxDist
const T maxDist
Definition: OutlierFiltersImpl.h:83
OutlierFiltersImpl::SurfaceNormalOutlierFilter
Definition: OutlierFiltersImpl.h:176
OutlierFiltersImpl::GenericDescriptorOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:198
OutlierFiltersImpl::RobustOutlierFilter::Huber
@ Huber
Definition: OutlierFiltersImpl.h:258
OutlierFiltersImpl::GenericDescriptorOutlierFilter
Definition: OutlierFiltersImpl.h:196
OutlierFiltersImpl::RobustOutlierFilter::resolveEstimatorName
virtual void resolveEstimatorName()
Definition: OutlierFiltersImpl.cpp:453
OutlierFiltersImpl::GenericDescriptorOutlierFilter::useLargerThan
const bool useLargerThan
Definition: OutlierFiltersImpl.h:216
OutlierFiltersImpl::NullOutlierFilter::NullOutlierFilter
NullOutlierFilter()
Definition: OutlierFiltersImpl.h:66
OutlierFiltersImpl::MedianDistOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:111
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
OutlierFiltersImpl::MaxDistOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:72
OutlierFiltersImpl::GenericDescriptorOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:202
build_map.T
T
Definition: build_map.py:34
OutlierFiltersImpl::GenericDescriptorOutlierFilter::descName
const std::string descName
Definition: OutlierFiltersImpl.h:214
OutlierFiltersImpl::OutlierFilter
PointMatcher< T >::OutlierFilter OutlierFilter
Definition: OutlierFiltersImpl.h:53
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::VarTrimmedDistOutlierFilter
VarTrimmedDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:154
OutlierFiltersImpl::MinDistOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:96
OutlierFiltersImpl::GenericDescriptorOutlierFilter::threshold
const T threshold
Definition: OutlierFiltersImpl.h:217
OutlierFiltersImpl::MedianDistOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:117
OutlierFiltersImpl::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: OutlierFiltersImpl.h:44
OutlierFiltersImpl::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: OutlierFiltersImpl.h:54
OutlierFiltersImpl::RobustOutlierFilter::Tukey
@ Tukey
Definition: OutlierFiltersImpl.h:257
OutlierFiltersImpl::TrimmedDistOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:140
OutlierFiltersImpl::P
PointMatcherSupport::Parametrizable P
Definition: OutlierFiltersImpl.h:45
OutlierFiltersImpl::MinDistOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:95
OutlierFiltersImpl::GenericDescriptorOutlierFilter::source
const std::string source
Definition: OutlierFiltersImpl.h:213
OutlierFiltersImpl::MaxDistOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:76
PointMatcher::OutlierFilter
An outlier filter removes or weights links between points in reading and their matched points in refe...
Definition: PointMatcher.h:500
PointMatcher::Array
Eigen::Array< T, Eigen::Dynamic, Eigen::Dynamic > Array
A dense array over ScalarType.
Definition: PointMatcher.h:175
OutlierFiltersImpl::RobustOutlierFilter::berg_target_scale
T berg_target_scale
Definition: OutlierFiltersImpl.h:273
OutlierFiltersImpl::RobustOutlierFilter::computePointToPlaneDistance
Matrix computePointToPlaneDistance(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Definition: OutlierFiltersImpl.cpp:474
OutlierFiltersImpl::NullOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:53
OutlierFiltersImpl::Array
PointMatcher< T >::Array Array
Definition: OutlierFiltersImpl.h:56
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
OutlierFiltersImpl::RobustOutlierFilter::RobustFctId
RobustFctId
Definition: OutlierFiltersImpl.h:252
OutlierFiltersImpl::NullOutlierFilter
Definition: OutlierFiltersImpl.h:59
OutlierFiltersImpl::RobustOutlierFilter::iteration
int iteration
Definition: OutlierFiltersImpl.h:271
OutlierFiltersImpl::Matrix
PointMatcher< T >::Matrix Matrix
Definition: OutlierFiltersImpl.h:55
OutlierFiltersImpl::RobustOutlierFilter::GM
@ GM
Definition: OutlierFiltersImpl.h:256
OutlierFiltersImpl::SurfaceNormalOutlierFilter::SurfaceNormalOutlierFilter
SurfaceNormalOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:227
OutlierFiltersImpl::MedianDistOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:115
testing::internal::string
::std::string string
Definition: gtest.h:1979
OutlierFiltersImpl::RobustOutlierFilter::robustFctId
int robustFctId
Definition: OutlierFiltersImpl.h:270
OutlierFiltersImpl::MaxDistOutlierFilter
Definition: OutlierFiltersImpl.h:70
OutlierFiltersImpl::TrimmedDistOutlierFilter::TrimmedDistOutlierFilter
TrimmedDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:133
OutlierFiltersImpl::RobustOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:462
OutlierFiltersImpl::MedianDistOutlierFilter::MedianDistOutlierFilter
MedianDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:110
OutlierFiltersImpl::NullOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:61
OutlierFiltersImpl::RobustOutlierFilter::distanceType
const std::string distanceType
Definition: OutlierFiltersImpl.h:269
OutlierFiltersImpl::MedianDistOutlierFilter
Definition: OutlierFiltersImpl.h:109
OutlierFiltersImpl::GenericDescriptorOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:308
OutlierFiltersImpl::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: OutlierFiltersImpl.h:47
OutlierFiltersImpl::RobustOutlierFilter::robustFctName
const std::string robustFctName
Definition: OutlierFiltersImpl.h:264
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
OutlierFiltersImpl::RobustOutlierFilter::scale
T scale
Definition: OutlierFiltersImpl.h:272
OutlierFiltersImpl::MedianDistOutlierFilter::factor
const T factor
Definition: OutlierFiltersImpl.h:122
OutlierFiltersImpl::Matches
PointMatcher< T >::Matches Matches
Definition: OutlierFiltersImpl.h:52
OutlierFiltersImpl::TrimmedDistOutlierFilter
Definition: OutlierFiltersImpl.h:128
OutlierFiltersImpl::SurfaceNormalOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:236
icp_advance_api.matches
matches
Definition: icp_advance_api.py:114
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
OutlierFiltersImpl::MinDistOutlierFilter
Definition: OutlierFiltersImpl.h:90
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:153
OutlierFiltersImpl::RobustOutlierFilter
Definition: OutlierFiltersImpl.h:223
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:149
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:167
OutlierFiltersImpl::Vector
PointMatcher< T >::Vector Vector
Definition: OutlierFiltersImpl.h:57
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
OutlierFiltersImpl::RobustOutlierFilter::tuning
T tuning
Definition: OutlierFiltersImpl.h:265
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
OutlierFiltersImpl::TrimmedDistOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:134
OutlierFiltersImpl::RobustOutlierFilter::scaleEstimator
const std::string scaleEstimator
Definition: OutlierFiltersImpl.h:267
OutlierFiltersImpl::Parameters
Parametrizable::Parameters Parameters
Definition: OutlierFiltersImpl.h:46
OutlierFiltersImpl
Definition: OutlierFiltersImpl.h:42
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::minRatio
const T minRatio
Definition: OutlierFiltersImpl.h:162
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::optimizeInlierRatio
T optimizeInlierRatio(const Matches &matches)
Definition: OutlierFiltersImpl.cpp:180
OutlierFiltersImpl::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: OutlierFiltersImpl.h:49
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
OutlierFiltersImpl::SurfaceNormalOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:178
OutlierFiltersImpl::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: OutlierFiltersImpl.h:51
OutlierFiltersImpl::VarTrimmedDistOutlierFilter
Definition: OutlierFiltersImpl.h:147
OutlierFiltersImpl::RobustOutlierFilter::nbIterationForScale
const int nbIterationForScale
Definition: OutlierFiltersImpl.h:268
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
OutlierFiltersImpl::RobustOutlierFilter::SwitchableConstraint
@ SwitchableConstraint
Definition: OutlierFiltersImpl.h:255
OutlierFiltersImpl::GenericDescriptorOutlierFilter::GenericDescriptorOutlierFilter
GenericDescriptorOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:292
OutlierFiltersImpl::SurfaceNormalOutlierFilter::eps
const T eps
Definition: OutlierFiltersImpl.h:189
OutlierFiltersImpl::RobustOutlierFilter::Welsch
@ Welsch
Definition: OutlierFiltersImpl.h:254
OutlierFiltersImpl::RobustOutlierFilter::L1
@ L1
Definition: OutlierFiltersImpl.h:259
OutlierFiltersImpl::TrimmedDistOutlierFilter::ratio
const T ratio
Definition: OutlierFiltersImpl.h:141
OutlierFiltersImpl::MaxDistOutlierFilter::compute
virtual OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Detect outliers using features.
Definition: OutlierFiltersImpl.cpp:75
OutlierFiltersImpl::MinDistOutlierFilter::description
static const std::string description()
Definition: OutlierFiltersImpl.h:92
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::maxRatio
const T maxRatio
Definition: OutlierFiltersImpl.h:163
OutlierFiltersImpl::SurfaceNormalOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:182
OutlierFiltersImpl::RobustOutlierFilter::Student
@ Student
Definition: OutlierFiltersImpl.h:260
OutlierFiltersImpl::RobustOutlierFilter::RobustFctMap
std::map< std::string, RobustFctId > RobustFctMap
Definition: OutlierFiltersImpl.h:262
PointMatcher.h
public interface
OutlierFiltersImpl::RobustOutlierFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: OutlierFiltersImpl.h:230
OutlierFiltersImpl::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: OutlierFiltersImpl.h:48
OutlierFiltersImpl::RobustOutlierFilter::Cauchy
@ Cauchy
Definition: OutlierFiltersImpl.h:253
OutlierFiltersImpl::RobustOutlierFilter::robustFcts
static RobustFctMap robustFcts
Definition: OutlierFiltersImpl.h:263
PointMatcherSupport::Parametrizable::className
const std::string className
name of the class
Definition: Parametrizable.h:202
OutlierFiltersImpl::SurfaceNormalOutlierFilter::warningPrinted
bool warningPrinted
Definition: OutlierFiltersImpl.h:190
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
OutlierFiltersImpl::VarTrimmedDistOutlierFilter::lambda
const T lambda
Definition: OutlierFiltersImpl.h:164
OutlierFiltersImpl::GenericDescriptorOutlierFilter::useSoftThreshold
const bool useSoftThreshold
Definition: OutlierFiltersImpl.h:215
OutlierFiltersImpl::MaxDistOutlierFilter::MaxDistOutlierFilter
MaxDistOutlierFilter(const Parameters &params=Parameters())
Definition: OutlierFiltersImpl.cpp:67
OutlierFiltersImpl::MinDistOutlierFilter::minDist
const T minDist
Definition: OutlierFiltersImpl.h:103


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