Saliency.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>
9 
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 template<typename T>
41 {
42  // Type definitions
44  typedef typename PM::DataPoints DataPoints;
46 
53 
54  typedef typename DataPoints::Index Index;
55 
57 
58  typedef typename PM::Matrix Matrix;
59  typedef typename PM::Vector Vector;
60 
61  inline static const std::string description()
62  {
63  return "Point cloud enhancement: compute geometric features saliencies throught Tensor Voting framework.";
64  }
65 
66  inline static const ParametersDoc availableParameters()
67  {
68  return {
69  {"k", "Number of neighbors to consider", "50", "6", "4294967295", &P::Comp<std::size_t>},
70  {"sigma", "Scale of the vote.", "0.2", "0.", "+inf", &P::Comp<T>},
71  {"keepNormals", "Flag to keep normals computed by TV.", "1", "0", "1", P::Comp<bool>},
72  {"keepLabels", "Flag to keep labels computed by TV.", "1", "0", "1", P::Comp<bool>},
73  {"keepTensors", "Flag to keep elements Tensors computed by TV.", "1", "0", "1", P::Comp<bool>}
74  };
75  }
76 
77 public:
78  const std::size_t k;
79  const T sigma;
80  const bool keepNormals;
81  const bool keepLabels;
82  const bool keepTensors;
83 
84  //Ctor, uses parameter interface
86  //SaliencyDataPointsFilter();
87 
88  //Dtor
90 
91  virtual DataPoints filter(const DataPoints& input);
92  virtual void inPlaceFilter(DataPoints& cloud);
93 
94 private:
95 };
96 
97 
SaliencyDataPointsFilter::PM
PointMatcher< T > PM
Definition: Saliency.h:43
SaliencyDataPointsFilter::Index
DataPoints::Index Index
Definition: Saliency.h:54
SaliencyDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: Saliency.h:51
build_map.T
T
Definition: build_map.py:34
SaliencyDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: Saliency.h:47
SaliencyDataPointsFilter::~SaliencyDataPointsFilter
virtual ~SaliencyDataPointsFilter()
Definition: Saliency.h:89
SaliencyDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: Saliency.h:56
SaliencyDataPointsFilter::SaliencyDataPointsFilter
SaliencyDataPointsFilter(const Parameters &params=Parameters())
Definition: Saliency.cpp:41
SaliencyDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: Saliency.h:66
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
SaliencyDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: Saliency.cpp:62
SaliencyDataPointsFilter::DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: Saliency.h:45
SaliencyDataPointsFilter::description
static const std::string description()
Definition: Saliency.h:61
testing::internal::string
::std::string string
Definition: gtest.h:1979
SaliencyDataPointsFilter::DataPoints
PM::DataPoints DataPoints
Definition: Saliency.h:44
SaliencyDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: Saliency.h:50
SaliencyDataPointsFilter
Definition: Saliency.h:40
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
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
SaliencyDataPointsFilter::k
const std::size_t k
Definition: Saliency.h:78
SaliencyDataPointsFilter::keepTensors
const bool keepTensors
Definition: Saliency.h:82
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:440
SaliencyDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: Saliency.h:49
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointMatcher::DataPoints::Index
Matrix::Index Index
An index to a row or a column.
Definition: PointMatcher.h:218
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
SaliencyDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: Saliency.h:52
SaliencyDataPointsFilter::Vector
PM::Vector Vector
Definition: Saliency.h:59
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
SaliencyDataPointsFilter::keepLabels
const bool keepLabels
Definition: Saliency.h:81
SaliencyDataPointsFilter::keepNormals
const bool keepNormals
Definition: Saliency.h:80
SaliencyDataPointsFilter::Matrix
PM::Matrix Matrix
Definition: Saliency.h:58
SaliencyDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: Saliency.h:48
SaliencyDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: Saliency.cpp:54
SaliencyDataPointsFilter::sigma
const T sigma
Definition: Saliency.h: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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