SurfaceNormal.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 
10 All rights reserved.
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 #include <vector>
40 
42 template<typename T>
44 {
51 
52  typedef typename PointMatcher<T>::Vector Vector;
53  typedef typename PointMatcher<T>::Matrix Matrix;
56 
57  inline static const std::string description()
58  {
59  return "This filter extracts the surface normal vector and other statistics to each point by taking the eigenvector corresponding to the smallest eigenvalue of its nearest neighbors.\n\n"
60  "Required descriptors: none.\n"
61  "Produced descritors: normals(optional), densities(optional), eigValues(optional), eigVectors(optional), matchedIds (optional), meanDists(optional).\n"
62  "Altered descriptors: none.\n"
63  "Altered features: none.";
64  }
65  inline static const ParametersDoc availableParameters()
66  {
67  return {
68  {"knn", "number of nearest neighbors to consider, including the point itself", "5", "3", "2147483647", &P::Comp<unsigned>},
69  {"maxDist", "maximum distance to consider for neighbors", "inf", "0", "inf", &P::Comp<T>},
70  {"epsilon", "approximation to use for the nearest-neighbor search", "0", "0", "inf", &P::Comp<T>},
71  {"keepNormals", "whether the normals should be added as descriptors to the resulting cloud", "1"},
72  {"keepDensities", "whether the point densities should be added as descriptors to the resulting cloud", "0"},
73  {"keepEigenValues", "whether the eigen values should be added as descriptors to the resulting cloud", "0"},
74  {"keepEigenVectors", "whether the eigen vectors should be added as descriptors to the resulting cloud", "0"},
75  {"keepMatchedIds" , "whether the identifiers of matches points should be added as descriptors to the resulting cloud", "0"},
76  {"keepMeanDist" , "whether the distance to the nearest neighbor mean should be added as descriptors to the resulting cloud", "0"},
77  {"sortEigen" , "whether the eigenvalues and eigenvectors should be sorted (ascending) based on the eigenvalues", "0"},
78  {"smoothNormals", "whether the normal vector should be average with the nearest neighbors", "0"}
79  };
80  }
81 
82  const unsigned knn;
83  const T maxDist;
84  const T epsilon;
85  const bool keepNormals;
86  const bool keepDensities;
87  const bool keepEigenValues;
88  const bool keepEigenVectors;
89  const bool keepMatchedIds;
90  const bool keepMeanDist;
91  const bool sortEigen;
92  const bool smoothNormals;
93 
96  virtual DataPoints filter(const DataPoints& input);
97  virtual void inPlaceFilter(DataPoints& cloud);
98 };
SurfaceNormalDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: SurfaceNormal.cpp:72
SurfaceNormalDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: SurfaceNormal.h:46
SurfaceNormalDataPointsFilter::keepNormals
const bool keepNormals
Definition: SurfaceNormal.h:85
SurfaceNormalDataPointsFilter::Matrix
PointMatcher< T >::Matrix Matrix
Definition: SurfaceNormal.h:53
SurfaceNormalDataPointsFilter::SurfaceNormalDataPointsFilter
SurfaceNormalDataPointsFilter(const Parameters &params=Parameters())
Definition: SurfaceNormal.cpp:52
SurfaceNormalDataPointsFilter::sortEigen
const bool sortEigen
Definition: SurfaceNormal.h:91
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
SurfaceNormalDataPointsFilter::keepEigenVectors
const bool keepEigenVectors
Definition: SurfaceNormal.h:88
build_map.T
T
Definition: build_map.py:34
SurfaceNormalDataPointsFilter::smoothNormals
const bool smoothNormals
Definition: SurfaceNormal.h:92
SurfaceNormalDataPointsFilter::keepDensities
const bool keepDensities
Definition: SurfaceNormal.h:86
SurfaceNormalDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: SurfaceNormal.cpp:82
SurfaceNormalDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: SurfaceNormal.h:45
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
SurfaceNormalDataPointsFilter::keepMatchedIds
const bool keepMatchedIds
Definition: SurfaceNormal.h:89
SurfaceNormalDataPointsFilter::knn
const unsigned knn
Definition: SurfaceNormal.h:82
testing::internal::string
::std::string string
Definition: gtest.h:1979
SurfaceNormalDataPointsFilter::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: SurfaceNormal.h:54
SurfaceNormalDataPointsFilter
Surface normals estimation. Find the normal for every point using eigen-decomposition of neighbour po...
Definition: SurfaceNormal.h:43
SurfaceNormalDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: SurfaceNormal.h:55
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
SurfaceNormalDataPointsFilter::description
static const std::string description()
Definition: SurfaceNormal.h:57
SurfaceNormalDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: SurfaceNormal.h:52
SurfaceNormalDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: SurfaceNormal.h:47
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
SurfaceNormalDataPointsFilter::keepMeanDist
const bool keepMeanDist
Definition: SurfaceNormal.h:90
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
SurfaceNormalDataPointsFilter::epsilon
const T epsilon
Definition: SurfaceNormal.h:84
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
SurfaceNormalDataPointsFilter::keepEigenValues
const bool keepEigenValues
Definition: SurfaceNormal.h:87
SurfaceNormalDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: SurfaceNormal.h:49
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
SurfaceNormalDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: SurfaceNormal.h:48
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
SurfaceNormalDataPointsFilter::maxDist
const T maxDist
Definition: SurfaceNormal.h:83
PointMatcher.h
public interface
SurfaceNormalDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: SurfaceNormal.h:65
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
SurfaceNormalDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: SurfaceNormal.h:50
SurfaceNormalDataPointsFilter::~SurfaceNormalDataPointsFilter
virtual ~SurfaceNormalDataPointsFilter()
Definition: SurfaceNormal.h:95


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