MatchersImpl.h
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6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef __POINTMATCHER_MATCHERS_H
37 #define __POINTMATCHER_MATCHERS_H
38 
39 #include "PointMatcher.h"
40 
41 #include "nabo/nabo.h"
42 #if NABO_VERSION_INT < 10007
43  #error "You need libnabo version 1.0.7 or greater"
44 #endif
45 
46 template<typename T>
48 {
54 
56  typedef typename NNS::SearchType NNSearchType;
57 
61 
62  struct NullMatcher: public Matcher
63  {
64  inline static const std::string description()
65  {
66  return "Does nothing, returns no match.";
67  }
68 
69  NullMatcher() : Matcher("NullMatcher", ParametersDoc(), Parameters()) {}
70  virtual void init(const DataPoints& filteredReference);
71  virtual Matches findClosests(const DataPoints& filteredReading);
72  };
73 
74  struct KDTreeMatcher: public Matcher
75  {
76  inline static const std::string description()
77  {
78  return "This matcher matches a point from the reading to its closest neighbors in the reference.";
79  }
80  inline static const ParametersDoc availableParameters()
81  {
82  return {
83  {"knn", "number of nearest neighbors to consider it the reference", "1", "1", "2147483647", &P::Comp<unsigned>},
84  {"epsilon", "approximation to use for the nearest-neighbor search", "0", "0", "inf", &P::Comp<T>},
85  {"searchType", "Nabo search type. 0: brute force, check distance to every point in the data (very slow), 1: kd-tree with linear heap, good for small knn (~up to 30) and 2: kd-tree with tree heap, good for large knn (~from 30)", "1", "0", "2", &P::Comp<unsigned>},
86  {"maxDist", "maximum distance to consider for neighbors", "inf", "0", "inf", &P::Comp<T>}
87  };
88  }
89 
90  const int knn;
91  const T epsilon;
93  const T maxDist;
94 
95  protected:
96  std::shared_ptr<NNS> featureNNS;
97 
98  public:
100  virtual ~KDTreeMatcher();
101  virtual void init(const DataPoints& filteredReference);
102  virtual Matches findClosests(const DataPoints& filteredReading);
103  };
104 
106  {
107  inline static const std::string description()
108  {
109  return "This matcher matches a point from the reading to its closest neighbors in the reference. A maximum search radius per point can be defined.";
110  }
111  inline static const ParametersDoc availableParameters()
112  {
113  return {
114  {"knn", "number of nearest neighbors to consider it the reference", "1", "1", "2147483647", &P::Comp<unsigned>},
115  {"epsilon", "approximation to use for the nearest-neighbor search", "0", "0", "inf", &P::Comp<T>},
116  {"searchType", "Nabo search type. 0: brute force, check distance to every point in the data (very slow), 1: kd-tree with linear heap, good for small knn (~up to 30) and 2: kd-tree with tree heap, good for large knn (~from 30)", "1", "0", "2", &P::Comp<unsigned>},
117  {"maxDistField", "descriptor field name used to set a maximum distance to consider for neighbors per point", "maxSearchDist"}
118  };
119  }
120 
121  const int knn;
122  const T epsilon;
125 
126  protected:
127  std::shared_ptr<NNS> featureNNS;
128 
129  public:
131  virtual ~KDTreeVarDistMatcher();
132  virtual void init(const DataPoints& filteredReference);
133  virtual Matches findClosests(const DataPoints& filteredReading);
134  };
135 
136 }; // MatchersImpl
137 
138 #endif // __POINTMATCHER_MATCHERS_H
MatchersImpl::KDTreeMatcher::~KDTreeMatcher
virtual ~KDTreeMatcher()
Definition: MatchersImpl.cpp:72
MatchersImpl::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: MatchersImpl.h:58
MatchersImpl::NullMatcher::findClosests
virtual Matches findClosests(const DataPoints &filteredReading)
Find the closest neighbors of filteredReading in filteredReference passed to init()
Definition: MatchersImpl.cpp:48
MatchersImpl::KDTreeMatcher::featureNNS
std::shared_ptr< NNS > featureNNS
Definition: MatchersImpl.h:96
MatchersImpl::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: MatchersImpl.h:52
MatchersImpl::Matcher
PointMatcher< T >::Matcher Matcher
Definition: MatchersImpl.h:59
MatchersImpl::Parameters
Parametrizable::Parameters Parameters
Definition: MatchersImpl.h:51
build_map.T
T
Definition: build_map.py:34
MatchersImpl::KDTreeVarDistMatcher::epsilon
const T epsilon
Definition: MatchersImpl.h:122
MatchersImpl::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: MatchersImpl.h:53
MatchersImpl::KDTreeVarDistMatcher::description
static const std::string description()
Definition: MatchersImpl.h:107
MatchersImpl::KDTreeMatcher::init
virtual void init(const DataPoints &filteredReference)
Init this matcher to find nearest neighbor in filteredReference.
Definition: MatchersImpl.cpp:78
Nabo::NearestNeighbourSearch::SearchType
SearchType
MatchersImpl::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: MatchersImpl.h:49
MatchersImpl::KDTreeMatcher::epsilon
const T epsilon
Definition: MatchersImpl.h:91
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
MatchersImpl::KDTreeVarDistMatcher::init
virtual void init(const DataPoints &filteredReference)
Init this matcher to find nearest neighbor in filteredReference.
Definition: MatchersImpl.cpp:125
MatchersImpl::NullMatcher::description
static const std::string description()
Definition: MatchersImpl.h:64
PointMatcher::Matcher
A matcher links points in the reading to points in the reference.
Definition: PointMatcher.h:473
MatchersImpl::Matches
PointMatcher< T >::Matches Matches
Definition: MatchersImpl.h:60
testing::internal::string
::std::string string
Definition: gtest.h:1979
MatchersImpl
Definition: MatchersImpl.h:47
MatchersImpl::NNS
Nabo::NearestNeighbourSearch< T > NNS
Definition: MatchersImpl.h:55
nabo.h
Nabo::NearestNeighbourSearch
MatchersImpl::NullMatcher::init
virtual void init(const DataPoints &filteredReference)
Init this matcher to find nearest neighbor in filteredReference.
Definition: MatchersImpl.cpp:41
MatchersImpl::KDTreeMatcher::searchType
const NNSearchType searchType
Definition: MatchersImpl.h:92
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
MatchersImpl::KDTreeVarDistMatcher::knn
const int knn
Definition: MatchersImpl.h:121
MatchersImpl::KDTreeVarDistMatcher::~KDTreeVarDistMatcher
virtual ~KDTreeVarDistMatcher()
Definition: MatchersImpl.cpp:119
MatchersImpl::KDTreeMatcher::KDTreeMatcher
KDTreeMatcher(const Parameters &params=Parameters())
Definition: MatchersImpl.cpp:61
MatchersImpl::KDTreeMatcher
Definition: MatchersImpl.h:74
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
MatchersImpl::KDTreeMatcher::availableParameters
static const ParametersDoc availableParameters()
Definition: MatchersImpl.h:80
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
MatchersImpl::KDTreeVarDistMatcher::searchType
const NNSearchType searchType
Definition: MatchersImpl.h:123
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
MatchersImpl::KDTreeMatcher::description
static const std::string description()
Definition: MatchersImpl.h:76
MatchersImpl::KDTreeVarDistMatcher::availableParameters
static const ParametersDoc availableParameters()
Definition: MatchersImpl.h:111
MatchersImpl::KDTreeVarDistMatcher::findClosests
virtual Matches findClosests(const DataPoints &filteredReading)
Find the closest neighbors of filteredReading in filteredReference passed to init()
Definition: MatchersImpl.cpp:133
MatchersImpl::NNSearchType
NNS::SearchType NNSearchType
Definition: MatchersImpl.h:56
MatchersImpl::KDTreeVarDistMatcher::featureNNS
std::shared_ptr< NNS > featureNNS
Definition: MatchersImpl.h:127
MatchersImpl::NullMatcher::NullMatcher
NullMatcher()
Definition: MatchersImpl.h:69
MatchersImpl::KDTreeVarDistMatcher
Definition: MatchersImpl.h:105
PointMatcher.h
public interface
MatchersImpl::P
PointMatcherSupport::Parametrizable P
Definition: MatchersImpl.h:50
MatchersImpl::NullMatcher
Definition: MatchersImpl.h:62
MatchersImpl::KDTreeMatcher::knn
const int knn
Definition: MatchersImpl.h:90
MatchersImpl::KDTreeVarDistMatcher::KDTreeVarDistMatcher
KDTreeVarDistMatcher(const Parameters &params=Parameters())
Definition: MatchersImpl.cpp:108
MatchersImpl::KDTreeMatcher::findClosests
virtual Matches findClosests(const DataPoints &filteredReading)
Find the closest neighbors of filteredReading in filteredReference passed to init()
Definition: MatchersImpl.cpp:86
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
MatchersImpl::KDTreeMatcher::maxDist
const T maxDist
Definition: MatchersImpl.h:93
MatchersImpl::KDTreeVarDistMatcher::maxDistField
const std::string maxDistField
Definition: MatchersImpl.h:124


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