MaxDensity.cpp
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5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 #include "MaxDensity.h"
36 
37 // MaxDensityDataPointsFilter
38 // Constructor
39 template<typename T>
41  PointMatcher<T>::DataPointsFilter("MaxDensityDataPointsFilter",
42  MaxDensityDataPointsFilter::availableParameters(), params),
43  maxDensity(Parametrizable::get<T>("maxDensity"))
44 {
45 }
46 
47 // Compute
48 template<typename T>
50  const DataPoints& input)
51 {
52  DataPoints output(input);
53  inPlaceFilter(output);
54  return output;
55 }
56 
57 // In-place filter
58 template<typename T>
60  DataPoints& cloud)
61 {
62  typedef typename DataPoints::View View;
63 
64  // Force densities to be computed
65  if (!cloud.descriptorExists("densities"))
66  {
67  throw InvalidField("MaxDensityDataPointsFilter: Error, no densities found in descriptors.");
68  }
69 
70  const int nbPointsIn = cloud.features.cols();
71  View densities = cloud.getDescriptorViewByName("densities");
72  const T lastDensity = densities.maxCoeff();
73  const int nbSaturatedPts = (densities.array() == lastDensity).count();
74 
75  // fill cloud values
76  int j = 0;
77  for (int i = 0; i < nbPointsIn; ++i)
78  {
79  const T density(densities(0,i));
80  if (density > maxDensity)
81  {
82  const float r = (float)std::rand()/(float)RAND_MAX;
83  float acceptRatio = maxDensity/density;
84 
85  // Handle saturation value of density
86  if (density == lastDensity)
87  {
88  acceptRatio = acceptRatio * (1-nbSaturatedPts/nbPointsIn);
89  }
90 
91  if (r < acceptRatio)
92  {
93  cloud.setColFrom(j, cloud, i);
94  ++j;
95  }
96  }
97  else
98  {
99  cloud.setColFrom(j, cloud, i);
100  ++j;
101  }
102  }
103 
104  cloud.conservativeResize(j);
105 }
106 
107 template struct MaxDensityDataPointsFilter<float>;
108 template struct MaxDensityDataPointsFilter<double>;
109 
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
build_map.T
T
Definition: build_map.py:34
PointMatcher::DataPoints::descriptorExists
bool descriptorExists(const std::string &name) const
Look if a descriptor with a given name exist.
Definition: pointmatcher/DataPoints.cpp:583
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
MaxDensityDataPointsFilter::MaxDensityDataPointsFilter
MaxDensityDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: MaxDensity.cpp:40
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
MaxDensityDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: MaxDensity.cpp:49
MaxDensity.h
MaxDensityDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: MaxDensity.h:45
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
MaxDensityDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: MaxDensity.cpp:59
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
MaxDensityDataPointsFilter
Subsampling. Reduce the points number by randomly removing points with a dentsity higher than a tresh...
Definition: MaxDensity.h:41
PointMatcher::DataPoints::View
Eigen::Block< Matrix > View
A view on a feature or descriptor.
Definition: PointMatcher.h:210
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
PointMatcher::DataPoints::getDescriptorViewByName
ConstView getDescriptorViewByName(const std::string &name) const
Get a const view on a descriptor by name, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:555


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