MinDist.cpp
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4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 #include "MinDist.h"
36 
37 #include "Functions.h"
38 
39 // MinDistDataPointsFilter
40 // Constructor
41 template<typename T>
43  PointMatcher<T>::DataPointsFilter("MinDistDataPointsFilter",
44  MinDistDataPointsFilter::availableParameters(), params),
45  dim(Parametrizable::get<unsigned>("dim")),
46  minDist(Parametrizable::get<T>("minDist"))
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  throw InvalidParameter((boost::format("MinDistDataPointsFilter: Error, filtering on dimension number %1%, larger than feature dimensionality %2%") % dim % (cloud.features.rows() - 2)).str());
69 
70  const int nbPointsIn = cloud.features.cols();
71  const int nbRows = cloud.features.rows();
72 
73  int j = 0;
74  if(dim == -1) // Euclidean distance
75  {
76  const T absMinDist = anyabs(minDist);
77  for (int i = 0; i < nbPointsIn; ++i)
78  {
79  if (cloud.features.col(i).head(nbRows-1).norm() > absMinDist)
80  {
81  cloud.setColFrom(j, cloud, i);
82  ++j;
83  }
84  }
85  }
86  else // Single axis distance
87  {
88  for (int i = 0; i < nbPointsIn; ++i)
89  {
90  if ((cloud.features(dim, i)) > minDist)
91  {
92  cloud.setColFrom(j, cloud, i);
93  ++j;
94  }
95  }
96  }
97 
98  cloud.conservativeResize(j);
99 
100 }
101 
102 template struct MinDistDataPointsFilter<float>;
103 template struct MinDistDataPointsFilter<double>;
MinDist.h
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
MinDistDataPointsFilter
Subsampling. Filter points before a minimum distance measured on a specific axis.
Definition: MinDist.h:41
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
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
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
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
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
MinDistDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: MinDist.h:45
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
MinDistDataPointsFilter::MinDistDataPointsFilter
MinDistDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: MinDist.cpp:42
Functions.h
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
MinDistDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: MinDist.cpp:62
MinDistDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: MinDist.cpp:52


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