DataPointsFilter.cpp
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #include "PointMatcher.h"
00037 #include "PointMatcherPrivate.h"
00038 
00039 #ifdef SYSTEM_YAML_CPP
00040     #include "yaml-cpp/yaml.h"
00041 #else
00042         #include "yaml-cpp-pm/yaml.h"
00043     namespace YAML = YAML_PM;
00044 #endif // HAVE_YAML_CPP
00045 
00047 template<typename T>
00048 PointMatcher<T>::DataPointsFilter::DataPointsFilter()
00049 {} 
00050 
00052 template<typename T>
00053 PointMatcher<T>::DataPointsFilter::DataPointsFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params):
00054         Parametrizable(className,paramsDoc,params)
00055 {}
00056 
00058 template<typename T>
00059 PointMatcher<T>::DataPointsFilter::~DataPointsFilter()
00060 {} 
00061 
00063 template<typename T>
00064 void PointMatcher<T>::DataPointsFilter::init()
00065 {}
00066 
00067 template struct PointMatcher<float>::DataPointsFilter;
00068 template struct PointMatcher<double>::DataPointsFilter;
00069 
00070 
00072 template<typename T>
00073 PointMatcher<T>::DataPointsFilters::DataPointsFilters()
00074 {}
00075 
00077 template<typename T>
00078 PointMatcher<T>::DataPointsFilters::DataPointsFilters(std::istream& in)
00079 {
00080     YAML::Parser parser(in);
00081     YAML::Node doc;
00082         parser.GetNextDocument(doc);
00083         
00084         // Fix for issue #6: compilation on gcc 4.4.4
00085         //PointMatcher<T> pm;
00086         const PointMatcher & pm = PointMatcher::get();
00087         
00088     for(YAML::Iterator moduleIt = doc.begin(); moduleIt != doc.end(); ++moduleIt)
00089         {
00090         const YAML::Node& module(*moduleIt);
00091                 this->push_back(pm.REG(DataPointsFilter).createFromYAML(module));
00092         }
00093 }
00094 
00096 template<typename T>
00097 void PointMatcher<T>::DataPointsFilters::init()
00098 {
00099         for (DataPointsFiltersIt it = this->begin(); it != this->end(); ++it)
00100         {
00101                 (*it)->init();
00102         }
00103 }
00104 
00106 template<typename T>
00107 void PointMatcher<T>::DataPointsFilters::apply(DataPoints& cloud)
00108 {
00109         if (this->empty())
00110                 return;
00111 
00112         cloud.assertDescriptorConsistency();
00113         const int nbPointsBeforeFilters(cloud.features.cols());
00114         LOG_INFO_STREAM("Applying " << this->size() << " DataPoints filters - " << nbPointsBeforeFilters << " points in");
00115 
00116         for (DataPointsFiltersIt it = this->begin(); it != this->end(); ++it)
00117         {
00118                 const int nbPointsIn(cloud.features.cols());
00119                 if (nbPointsIn == 0)
00120                         throw ConvergenceError("no points to filter");
00121 
00122                 (*it)->inPlaceFilter(cloud);
00123                 cloud.assertDescriptorConsistency();
00124 
00125                 const int nbPointsOut(cloud.features.cols());
00126                 LOG_INFO_STREAM("* " << (*it)->className << " - " << nbPointsOut << " points out (-" << (100 - double(nbPointsOut*100.)/nbPointsIn) << "\%)");
00127         }
00128         
00129         const int nbPointsAfterFilters(cloud.features.cols());
00130         LOG_INFO_STREAM("Applied " << this->size() << " filters - " << nbPointsAfterFilters << " points out (-" << (100 - double(nbPointsAfterFilters*100.)/nbPointsBeforeFilters) << "\%)");
00131 }
00132 
00133 template struct PointMatcher<float>::DataPointsFilters;
00134 template struct PointMatcher<double>::DataPointsFilters;


upstream_src
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autogenerated on Mon Oct 6 2014 10:27:39