MaxPointCount.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 "MaxPointCount.h"
36 #include <random>
37 
38 // MaxPointCountDataPointsFilter
39 // Constructor
40 template<typename T>
42  PointMatcher<T>::DataPointsFilter("MaxPointCountDataPointsFilter",
43  MaxPointCountDataPointsFilter::availableParameters(), params),
44  maxCount(Parametrizable::get<size_t>("maxCount"))
45 {
46  try
47  {
48  seed = this->template get<size_t>("seed");
49  }
50  catch (const InvalidParameter&)
51  {
52  seed = static_cast<size_t>(1); // rand default seed number
53  }
54 }
55 
56 // Compute
57 template<typename T>
59 {
60  DataPoints output(input);
61  inPlaceFilter(output);
62  return output;
63 }
64 
65 // In-place filter
66 template<typename T>
68 {
69  const size_t N{static_cast<size_t>(cloud.getNbPoints() - 1)};
70 
71  if (maxCount <= N)
72  {
73  std::minstd_rand randomNumberGenerator(static_cast<std::uint_fast32_t>(seed));
74  std::uniform_real_distribution<float> distribution{0, 1};
75 
76  for (size_t j{0u}; j < maxCount; ++j)
77  {
78  //Get a random index in [j; N]
79  const size_t index{j + static_cast<size_t>((N - j) * distribution(randomNumberGenerator))};
80 
81  //Switch columns j and index
82  cloud.swapCols(j, index);
83  }
84  //Resize the cloud
85  cloud.conservativeResize(maxCount);
86  }
87 }
88 
MaxPointCountDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: MaxPointCount.cpp:67
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
PointMatcher::DataPoints::swapCols
void swapCols(Index iCol, Index jCol)
Swap column i and j in the point cloud, swap also features and descriptors if any....
Definition: pointmatcher/DataPoints.cpp:406
build_map.T
T
Definition: build_map.py:34
MaxPointCountDataPointsFilter::seed
size_t seed
Definition: MaxPointCount.h:66
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
MaxPointCountDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: MaxPointCount.cpp:58
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
PointMatcher::DataPoints::getNbPoints
unsigned getNbPoints() const
Return the number of points contained in the point cloud.
Definition: pointmatcher/DataPoints.cpp:158
MaxPointCountDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: MaxPointCount.h:45
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
MaxPointCountDataPointsFilter::MaxPointCountDataPointsFilter
MaxPointCountDataPointsFilter(const Parameters &params=Parameters())
Definition: MaxPointCount.cpp:41
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
MaxPointCountDataPointsFilter
Maximum number of points.
Definition: MaxPointCount.h:41
MaxPointCount.h


libpointmatcher
Author(s):
autogenerated on Mon Jan 1 2024 03:24:43