DataPointsFilter.cpp
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2 // vim: ts=4:sw=4:noexpandtab
3 /*
4 
5 Copyright (c) 2010--2012,
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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23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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34 */
35 
36 #include "PointMatcher.h"
37 #include "PointMatcherPrivate.h"
38 
39 #include <yaml-cpp/yaml.h>
40 
42 template<typename T>
44 {}
45 
47 template<typename T>
49  Parametrizable(className,paramsDoc,params)
50 {}
51 
53 template<typename T>
55 {}
56 
58 template<typename T>
60 {}
61 
64 
65 
67 template<typename T>
69 {}
70 
72 template<typename T>
74 {
75  YAML::Node doc = YAML::Load(in);
76 
77  // Fix for issue #6: compilation on gcc 4.4.4
78  //PointMatcher<T> pm;
79  const PointMatcher & pm = PointMatcher::get();
80 
81  for(YAML::const_iterator moduleIt = doc.begin(); moduleIt != doc.end(); ++moduleIt)
82  {
83  const YAML::Node& module(*moduleIt);
84  this->push_back(pm.REG(DataPointsFilter).createFromYAML(module));
85  }
86 }
87 
89 template<typename T>
91 {
92  for (DataPointsFiltersIt it = this->begin(); it != this->end(); ++it)
93  {
94  (*it)->init();
95  }
96 }
97 
99 template<typename T>
101 {
102  if (this->empty())
103  return;
104 
106  const int nbPointsBeforeFilters(cloud.features.cols());
107  LOG_INFO_STREAM("Applying " << this->size() << " DataPoints filters - " << nbPointsBeforeFilters << " points in");
108  for (DataPointsFiltersIt it = this->begin(); it != this->end(); ++it)
109  {
110  const int nbPointsIn(cloud.features.cols());
111  if (nbPointsIn == 0) {
112  throw ConvergenceError("no points to filter");
113  }
114 
115  (*it)->inPlaceFilter(cloud);
117 
118  const int nbPointsOut(cloud.features.cols());
119  LOG_INFO_STREAM("* " << (*it)->className << " - " << nbPointsOut << " points out (-" << (100 - double(nbPointsOut*100.)/nbPointsIn) << "%)");
120  }
121 
122  const int nbPointsAfterFilters(cloud.features.cols());
123  LOG_INFO_STREAM("Applied " << this->size() << " filters - " << nbPointsAfterFilters << " points out (-" << (100 - double(nbPointsAfterFilters*100.)/nbPointsBeforeFilters) << "%)");
124 }
125 
PointMatcher::DataPointsFilters::DataPointsFilters
DataPointsFilters()
Construct an empty chain.
Definition: DataPointsFilter.cpp:68
PointMatcher::DataPointsFiltersIt
DataPointsFilters::iterator DataPointsFiltersIt
alias
Definition: PointMatcher.h:462
PointMatcher::DataPointsFilters::init
void init()
Init the chain.
Definition: DataPointsFilter.cpp:90
PointMatcher::DataPoints::assertDescriptorConsistency
void assertDescriptorConsistency() const
Assert if descriptors are not consistent with features.
Definition: pointmatcher/DataPoints.cpp:611
LOG_INFO_STREAM
#define LOG_INFO_STREAM(args)
Definition: PointMatcherPrivate.h:58
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcherPrivate.h
PointMatcher::ConvergenceError
Point matcher did not converge.
Definition: PointMatcher.h:148
PointMatcher::DataPointsFilters
A chain of DataPointsFilter.
Definition: PointMatcher.h:455
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
testing::internal::string
::std::string string
Definition: gtest.h:1979
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
PointMatcher::DataPointsFilter::DataPointsFilter
DataPointsFilter()
Construct without parameter.
Definition: DataPointsFilter.cpp:43
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:440
PointMatcher::DataPointsFilter::~DataPointsFilter
virtual ~DataPointsFilter()
virtual destructor
Definition: DataPointsFilter.cpp:54
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
PointMatcher::DataPointsFilter::init
virtual void init()
Init this filter.
Definition: DataPointsFilter.cpp:59
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcher::get
static const PointMatcher & get()
Return instances.
Definition: Registry.cpp:146
build_map.end
end
Definition: build_map.py:79
PointMatcher.h
public interface
PointMatcher::DataPointsFilters::apply
void apply(DataPoints &cloud)
Apply this chain to cloud, mutates cloud.
Definition: DataPointsFilter.cpp:100
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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autogenerated on Mon Jan 1 2024 03:24:42