FixStepSampling.cpp

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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.

Redistribution and use in source and binary forms, with or without
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
      notice, this list of conditions and the following disclaimer in the
      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.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
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*/
#include "FixStepSampling.h"

#include "PointMatcherPrivate.h"


// FixStepSamplingDataPointsFilter
// Constructor
template<typename T>
FixStepSamplingDataPointsFilter<T>::FixStepSamplingDataPointsFilter(const Parameters& params):
        PointMatcher<T>::DataPointsFilter("FixStepSamplingDataPointsFilter", 
                FixStepSamplingDataPointsFilter::availableParameters(), params),
        startStep(Parametrizable::get<unsigned>("startStep")),
        endStep(Parametrizable::get<unsigned>("endStep")),
        stepMult(Parametrizable::get<double>("stepMult")),
        step(startStep)
{
        LOG_INFO_STREAM("Using FixStepSamplingDataPointsFilter with startStep=" << startStep << ", endStep=" << endStep << ", stepMult=" << stepMult);
}


template<typename T>
void FixStepSamplingDataPointsFilter<T>::init()
{
        step = startStep;
}

// Compute
template<typename T>
typename PointMatcher<T>::DataPoints 
FixStepSamplingDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}

// In-place filter
template<typename T>
void FixStepSamplingDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{
        const int iStep(step);
        const int nbPointsIn = cloud.features.cols();
        const int phase(rand() % iStep);

        int j = 0;
        for (int i = phase; i < nbPointsIn; i += iStep)
        {
                cloud.setColFrom(j, cloud, i);
                ++j;
        }

        cloud.conservativeResize(j);

        const double deltaStep(startStep * stepMult - startStep);
        step *= stepMult;
        if (deltaStep < 0 && step < endStep)
                step = endStep;
        if (deltaStep > 0 && step > endStep)
                step = endStep;

}

template struct FixStepSamplingDataPointsFilter<float>;
template struct FixStepSamplingDataPointsFilter<double>;