RandomSampling.cpp
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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>
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35 #include "RandomSampling.h"
36 
37 #include <random>
38 
39 // RandomSamplingDataPointsFilter
40 // Constructor
41 template<typename T>
43  PointMatcher<T>::DataPointsFilter("RandomSamplingDataPointsFilter", RandomSamplingDataPointsFilter::availableParameters(), params),
44  prob(Parametrizable::get<double>("prob")),
45  randomSamplingMethod(Parametrizable::get<int>("randomSamplingMethod")),
46  seed(Parametrizable::get<int>("seed"))
47 {
48 }
49 
50 // Compute
51 template<typename T>
54 {
55  DataPoints output(input);
56  inPlaceFilter(output);
57  return output;
58 }
59 
60 // In-place filter
61 template<typename T>
62 Eigen::VectorXf RandomSamplingDataPointsFilter<T>::sampleRandomIndices(const size_t nbPoints)
63 {
64  std::minstd_rand randomNumberGenerator;
65  if (seed == -1)
66  {
67  std::random_device randomDevice;
68  randomNumberGenerator = std::minstd_rand(randomDevice());
69  }
70  else
71  {
72  randomNumberGenerator = std::minstd_rand(seed);
73  }
74 
75  switch(randomSamplingMethod)
76  {
77  default: // Direct RNG.
78  {
79  const float randomNumberRange{static_cast<float>(randomNumberGenerator.max() - randomNumberGenerator.min())};
80  return Eigen::VectorXf::NullaryExpr(nbPoints, [&](float){return static_cast<float>(randomNumberGenerator() / randomNumberRange);});
81  }
82  case 1: // Uniform distribution.
83  {
84  std::uniform_real_distribution<float> distribution(0, 1);
85  return Eigen::VectorXf::NullaryExpr(nbPoints, [&](float){return distribution(randomNumberGenerator);});
86  }
87  }
88 }
89 
90 // In-place filter
91 template<typename T>
93  DataPoints& cloud)
94 {
95  const size_t nbPointsIn = cloud.features.cols();
96  const size_t nbPointsOut = nbPointsIn * prob;
97 
98  const Eigen::VectorXf randomNumbers{sampleRandomIndices(nbPointsIn)};
99  size_t j{0u};
100  for (size_t i{0u}; i < nbPointsIn && j<=nbPointsOut; ++i)
101  {
102  if (randomNumbers(i) < prob)
103  {
104  cloud.setColFrom(j, cloud, i);
105  ++j;
106  }
107  }
108  cloud.conservativeResize(j);
109 }
110 
113 
114 
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
build_map.T
T
Definition: build_map.py:34
RandomSampling.h
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
RandomSamplingDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: RandomSampling.cpp:92
RandomSamplingDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: RandomSampling.cpp:53
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
RandomSamplingDataPointsFilter
Random sampling.
Definition: RandomSampling.h:43
RandomSamplingDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: RandomSampling.h:47
RandomSamplingDataPointsFilter::sampleRandomIndices
Eigen::VectorXf sampleRandomIndices(const size_t nbPoints)
Definition: RandomSampling.cpp:62
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
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
RandomSamplingDataPointsFilter::RandomSamplingDataPointsFilter
RandomSamplingDataPointsFilter(const Parameters &params=Parameters())
Definition: RandomSampling.cpp:42


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