CovarianceSampling.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*
 
Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>
 
All rights reserved.
 
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modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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*/
#pragma once
 
#include "PointMatcher.h"
 
template<typename T>
struct CovarianceSamplingDataPointsFilter : public PointMatcher<T>::DataPointsFilter
{
        // Type definitions
        typedef PointMatcher<T> PM;
        typedef typename PM::DataPoints DataPoints;
        typedef typename PM::DataPointsFilter DataPointsFilter;
 
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename DataPoints::Index Index;
 
        typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;
        
        typedef typename PointMatcher<T>::Vector Vector;
        typedef typename PointMatcher<T>::Matrix Matrix;        
        
        using Matrix66 = Eigen::Matrix<T, 6, 6>;
        using Vector6  = Eigen::Matrix<T, 6, 1>;
        using Vector3  = Eigen::Matrix<T, 3, 1>;
 
        inline static const std::string description()
        {
                return "Covariance Sampling (CovS) \\cite{Gelfand2003}. Performs stability analysis to select geometrically stable points that can bind the rotational components as well as the translational. Uses an estimate of the covariance matrix to detect pair of points which will not be constrained.";
        }
 
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"nbSample", "Number of point to select.", "5000", "1", "4294967295", &P::Comp<std::size_t>},
                        {"torqueNorm", "Method for torque normalization: (0) L=1 (no normalization, more t-normals), (1) L=Lavg (average distance, torque is scale-independent), (2) L=Lmax (scale in unit ball, more r-normals)", "1", "0", "2", &P::Comp<std::uint8_t>}
                };
        }
 
        enum TorqueNormMethod : std::uint8_t { L1=0, Lavg=1, Lmax=2 };
 
        std::size_t nbSample;
        TorqueNormMethod normalizationMethod;
        
        //Ctor, uses parameter interface
        CovarianceSamplingDataPointsFilter(const Parameters& params = Parameters());
        //CovarianceSamplingDataPointsFilter();
        
        //Dtor
        virtual ~CovarianceSamplingDataPointsFilter() {};
 
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
 
        static T computeConditionNumber(const Matrix66 &cov);
};