MaxDist.cpp
Go to the documentation of this file.
1 // kate: replace-tabs off; indent-width 4; indent-mode normal
2 // vim: ts=4:sw=4:noexpandtab
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>
9 
10 All rights reserved.
11 
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions are met:
14  * Redistributions of source code must retain the above copyright
15  notice, this list of conditions and the following disclaimer.
16  * Redistributions in binary form must reproduce the above copyright
17  notice, this list of conditions and the following disclaimer in the
18  documentation and/or other materials provided with the distribution.
19  * Neither the name of the <organization> nor the
20  names of its contributors may be used to endorse or promote products
21  derived from this software without specific prior written permission.
22 
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
24 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
25 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
26 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
27 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
28 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
30 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
31 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 
34 */
35 #include "MaxDist.h"
36 
37 #include "pointmatcher/Functions.h"
38 
39 // MaxDistDataPointsFilter
40 // Constructor
41 template<typename T>
43  PointMatcher<T>::DataPointsFilter("MaxDistDataPointsFilter",
44  MaxDistDataPointsFilter::availableParameters(), params),
45  dim(Parametrizable::get<unsigned>("dim")),
46  maxDist(Parametrizable::get<T>("maxDist"))
47 {
48 }
49 
50 // Compute
51 template<typename T>
53  const DataPoints& input)
54 {
55  DataPoints output(input);
56  inPlaceFilter(output);
57  return output;
58 }
59 
60 // In-place filter
61 template<typename T>
63  DataPoints& cloud)
64 {
65  using namespace PointMatcherSupport;
66 
67  if (dim >= cloud.features.rows() - 1)
68  {
69  throw InvalidParameter(
70  (boost::format("MaxDistDataPointsFilter: Error, filtering on dimension number %1%, larger than authorized axis id %2%") % dim % (cloud.features.rows() - 2)).str());
71  }
72 
73  const int nbPointsIn = cloud.features.cols();
74  const int nbRows = cloud.features.rows();
75 
76  int j = 0;
77  if(dim == -1) // Euclidean distance
78  {
79  const T absMaxDist = anyabs(maxDist);
80  for (int i = 0; i < nbPointsIn; ++i)
81  {
82  if (cloud.features.col(i).head(nbRows-1).norm() < absMaxDist)
83  {
84  cloud.setColFrom(j, cloud, i);
85  ++j;
86  }
87  }
88  }
89  else // Single-axis distance
90  {
91  for (int i = 0; i < nbPointsIn; ++i)
92  {
93  if ((cloud.features(dim, i)) < maxDist)
94  {
95  cloud.setColFrom(j, cloud, i);
96  ++j;
97  }
98  }
99  }
100 
101  cloud.conservativeResize(j);
102 }
103 
104 template struct MaxDistDataPointsFilter<float>;
105 template struct MaxDistDataPointsFilter<double>;
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
build_map.T
T
Definition: build_map.py:34
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
MaxDistDataPointsFilter
Subsampling. Filter points beyond a maximum distance measured on a specific axis.
Definition: MaxDist.h:41
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
MaxDistDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: MaxDist.cpp:52
align_sequence.params
params
Definition: align_sequence.py:13
MaxDist.h
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
MaxDistDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: MaxDist.cpp:62
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
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
MaxDistDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: MaxDist.h:45
Functions.h
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
MaxDistDataPointsFilter::MaxDistDataPointsFilter
MaxDistDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: MaxDist.cpp:42


libpointmatcher
Author(s):
autogenerated on Mon Jul 1 2024 02:22:43