DistanceLimit.cpp
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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>
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34 */
35 #include "DistanceLimit.h"
36 #include "pointmatcher/Functions.h"
37 
38 // DistanceLimitDataPointsFilter
39 // Constructor
40 template<typename T>
42  PointMatcher<T>::DataPointsFilter("DistanceLimitDataPointsFilter",
43  DistanceLimitDataPointsFilter::availableParameters(), params),
44  dim(Parametrizable::get<unsigned>("dim")),
45  dist(Parametrizable::get<T>("dist")),
46  removeInside(Parametrizable::get<bool>("removeInside"))
47 {
48 }
49 
50 template<typename T>
52  const DataPoints& input)
53 {
54  DataPoints output(input);
55  inPlaceFilter(output);
56  return output;
57 }
58 
59 // In-place filter
60 template<typename T>
62  DataPoints& cloud)
63 {
64  using namespace PointMatcherSupport;
65 
66  if(dim >= cloud.features.rows() - 1)
67  {
68  throw InvalidParameter(
69  (boost::format("DistanceLimitDataPointsFilter: Error, filtering on dimension number %1%, larger than authorized axis id %2%") % dim % (cloud.features.rows() - 2)).str());
70  }
71 
72  const int nbPointsIn = cloud.features.cols();
73  const int nbRows = cloud.features.rows();
74 
75  int j = 0;
76  if(dim == -1) // Euclidean distance
77  {
78  const T absMaxDist = anyabs(dist);
79  for(int i = 0; i < nbPointsIn; ++i)
80  {
81  if(removeInside)
82  {
83  if(cloud.features.col(i).head(nbRows-1).norm() > absMaxDist)
84  {
85  cloud.setColFrom(j, cloud, i);
86  ++j;
87  }
88  }
89  else
90  {
91  if(cloud.features.col(i).head(nbRows-1).norm() < absMaxDist)
92  {
93  cloud.setColFrom(j, cloud, i);
94  ++j;
95  }
96  }
97  }
98  }
99  else // Single-axis distance
100  {
101  for(int i = 0; i < nbPointsIn; ++i)
102  {
103  if(removeInside)
104  {
105  if((cloud.features(dim, i)) > dist)
106  {
107  cloud.setColFrom(j, cloud, i);
108  ++j;
109  }
110  }
111  else
112  {
113  if((cloud.features(dim, i)) < dist)
114  {
115  cloud.setColFrom(j, cloud, i);
116  ++j;
117  }
118  }
119  }
120  }
121 
122  cloud.conservativeResize(j);
123 }
124 
DistanceLimitDataPointsFilter::DistanceLimitDataPointsFilter
DistanceLimitDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: DistanceLimit.cpp:41
DistanceLimitDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: DistanceLimit.cpp:61
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
DistanceLimitDataPointsFilter
Subsampling. Filter points based on distance measured on a specific axis.
Definition: DistanceLimit.h:41
build_map.T
T
Definition: build_map.py:34
DistanceLimitDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: DistanceLimit.cpp:51
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
DistanceLimit.h
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcher::DataPoints::setColFrom
void setColFrom(Index thisCol, const DataPoints &that, Index thatCol)
Set column thisCol equal to column thatCol of that, copy features and descriptors if any....
Definition: pointmatcher/DataPoints.cpp:393
InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: pypoint_matcher_helper.h:42
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::get
const M::mapped_type & get(const M &m, const typename M::key_type &k)
Definition: Bibliography.cpp:57
icp_advance_api.dim
dim
Definition: icp_advance_api.py:152
DistanceLimitDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: DistanceLimit.h:45
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
PointMatcherSupport::anyabs
static T anyabs(const T &v)
Definition: Functions.h:44
Functions.h
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
icp_advance_api.dist
dist
Definition: icp_advance_api.py:158


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