FixStepSampling.cpp
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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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35 #include "FixStepSampling.h"
36 
37 #include "PointMatcherPrivate.h"
38 
39 
40 // FixStepSamplingDataPointsFilter
41 // Constructor
42 template<typename T>
44  PointMatcher<T>::DataPointsFilter("FixStepSamplingDataPointsFilter",
45  FixStepSamplingDataPointsFilter::availableParameters(), params),
46  startStep(Parametrizable::get<unsigned>("startStep")),
47  endStep(Parametrizable::get<unsigned>("endStep")),
48  stepMult(Parametrizable::get<double>("stepMult")),
49  step(startStep)
50 {
51  LOG_INFO_STREAM("Using FixStepSamplingDataPointsFilter with startStep=" << startStep << ", endStep=" << endStep << ", stepMult=" << stepMult);
52 }
53 
54 
55 template<typename T>
57 {
58  step = startStep;
59 }
60 
61 // Compute
62 template<typename T>
65 {
66  DataPoints output(input);
67  inPlaceFilter(output);
68  return output;
69 }
70 
71 // In-place filter
72 template<typename T>
74 {
75  const int iStep(step);
76  const int nbPointsIn = cloud.features.cols();
77  const int phase(rand() % iStep);
78 
79  int j = 0;
80  for (int i = phase; i < nbPointsIn; i += iStep)
81  {
82  cloud.setColFrom(j, cloud, i);
83  ++j;
84  }
85 
86  cloud.conservativeResize(j);
87 
88  const double deltaStep(startStep * stepMult - startStep);
89  step *= stepMult;
90  if (deltaStep < 0 && step < endStep)
91  step = endStep;
92  if (deltaStep > 0 && step > endStep)
93  step = endStep;
94 
95 }
96 
99 
FixStepSamplingDataPointsFilter
Systematic sampling, with variation over time.
Definition: FixStepSampling.h:41
FixStepSamplingDataPointsFilter::startStep
const unsigned startStep
Definition: FixStepSampling.h:66
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
build_map.T
T
Definition: build_map.py:34
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
FixStepSampling.h
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
FixStepSamplingDataPointsFilter::init
virtual void init()
Init this filter.
Definition: FixStepSampling.cpp:56
FixStepSamplingDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: FixStepSampling.cpp:64
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
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
FixStepSamplingDataPointsFilter::stepMult
const double stepMult
Definition: FixStepSampling.h:68
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
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
FixStepSamplingDataPointsFilter::endStep
const unsigned endStep
Definition: FixStepSampling.h:67
FixStepSamplingDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: FixStepSampling.h:45
FixStepSamplingDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: FixStepSampling.cpp:73
FixStepSamplingDataPointsFilter::FixStepSamplingDataPointsFilter
FixStepSamplingDataPointsFilter(const Parameters &params=Parameters())
Definition: FixStepSampling.cpp:43


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