RandomSampling.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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35 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 #include <string>
40 
42 template<typename T>
44 {
51 
53 
54  inline static const std::string description()
55  {
56  return "Subsampling. This filter reduces the size of the point cloud by randomly dropping points. Based on \\cite{Masuda1996Random}";
57  }
58  inline static const ParametersDoc availableParameters()
59  {
60  return {
61  {"prob", "Probability to keep a point, one over decimation factor ", "0.75", "0", "1", &P::Comp<T>},
62  {"randomSamplingMethod", "Random sampling method: Direct RNG (0) (fastest), Uniform (1) (more accurate but slower)", "0", "0", "1", &P::Comp<int>},
63  {"seed", "Seed for random sampling (-1 means no seed is used)", "-1", "-1", "2147483647", &P::Comp<int>}
64  };
65  }
66 
67  const double prob;
69  const int seed;
70 
73  virtual DataPoints filter(const DataPoints& input);
74  virtual void inPlaceFilter(DataPoints& cloud);
75  Eigen::VectorXf sampleRandomIndices(const size_t nbPoints);
76 };
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
RandomSamplingDataPointsFilter::seed
const int seed
Definition: RandomSampling.h:69
RandomSamplingDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: RandomSampling.h:46
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
RandomSamplingDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: RandomSampling.cpp:92
RandomSamplingDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: RandomSampling.cpp:53
testing::internal::string
::std::string string
Definition: gtest.h:1979
RandomSamplingDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: RandomSampling.h:58
RandomSamplingDataPointsFilter::randomSamplingMethod
const int randomSamplingMethod
Definition: RandomSampling.h:68
RandomSamplingDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: RandomSampling.h:48
RandomSamplingDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: RandomSampling.h:49
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
RandomSamplingDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: RandomSampling.h:50
RandomSamplingDataPointsFilter
Random sampling.
Definition: RandomSampling.h:43
RandomSamplingDataPointsFilter::description
static const std::string description()
Definition: RandomSampling.h:54
RandomSamplingDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: RandomSampling.h:47
RandomSamplingDataPointsFilter::sampleRandomIndices
Eigen::VectorXf sampleRandomIndices(const size_t nbPoints)
Definition: RandomSampling.cpp:62
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
RandomSamplingDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: RandomSampling.h:45
RandomSamplingDataPointsFilter::prob
const double prob
Definition: RandomSampling.h:67
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
RandomSamplingDataPointsFilter::~RandomSamplingDataPointsFilter
virtual ~RandomSamplingDataPointsFilter()
Definition: RandomSampling.h:72
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
RandomSamplingDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: RandomSampling.h:52
PointMatcher.h
public interface
RandomSamplingDataPointsFilter::RandomSamplingDataPointsFilter
RandomSamplingDataPointsFilter(const Parameters &params=Parameters())
Definition: RandomSampling.cpp:42
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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