removeOutliers.cpp

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/*
 * removeOutliers.cpp
 *
 * Code generation for function 'removeOutliers'
 *
 * C source code generated on: Wed Jul 24 16:11:35 2013
 *
 */

/* Include files */
#include "rt_nonfinite.h"
#include "Optimal_affine_tracking_3d16_fast_realtime.h"
#include "removeOutliers.h"
#include "compute_prob1.h"
#include "abs.h"
#include "std.h"
#include "mean.h"

/* Type Definitions */

/* Named Constants */

/* Variable Declarations */

/* Variable Definitions */

/* Function Declarations */

/* Function Definitions */
void removeOutliers(real_T XYZ_mat[3888])
{
  real_T mu[3];
  real_T sigma[3];
  real_T y;
  real_T b_y;
  real_T c_y;
  real_T b_XYZ_mat[1296];
  int32_T i;
  real_T dv16[1296];
  real_T dv17[1296];
  real_T dv18[1296];
  boolean_T outliers[1296];
  int32_T tmp_size[1];
  int32_T tmp_data[1296];
  int32_T b_tmp_data[1296];
  int32_T loop_ub;
  c_mean(XYZ_mat, mu);
  b_std(XYZ_mat, sigma);
  y = 1.5 * sigma[0];
  b_y = 1.5 * sigma[1];
  c_y = 1.5 * sigma[2];
  for (i = 0; i < 1296; i++) {
    b_XYZ_mat[i] = XYZ_mat[2592 + i] - mu[2];
  }

  b_abs(b_XYZ_mat, dv16);
  for (i = 0; i < 1296; i++) {
    b_XYZ_mat[i] = XYZ_mat[i] - mu[0];
  }

  b_abs(b_XYZ_mat, dv17);
  for (i = 0; i < 1296; i++) {
    b_XYZ_mat[i] = XYZ_mat[1296 + i] - mu[1];
  }

  b_abs(b_XYZ_mat, dv18);
  for (i = 0; i < 1296; i++) {
    outliers[i] = ((dv17[i] > y) && (dv18[i] > b_y) && (dv16[i] > c_y));
  }

  eml_li_find(outliers, tmp_data, tmp_size);
  loop_ub = tmp_size[0] - 1;
  for (i = 0; i <= loop_ub; i++) {
    b_tmp_data[i] = tmp_data[i] - 1;
  }

  loop_ub = tmp_size[0] - 1;
  for (i = 0; i <= loop_ub; i++) {
    XYZ_mat[b_tmp_data[i]] = mu[0];
  }

  eml_li_find(outliers, tmp_data, tmp_size);
  loop_ub = tmp_size[0] - 1;
  for (i = 0; i <= loop_ub; i++) {
    b_tmp_data[i] = tmp_data[i] - 1;
  }

  loop_ub = tmp_size[0] - 1;
  for (i = 0; i <= loop_ub; i++) {
    XYZ_mat[1296 + b_tmp_data[i]] = mu[1];
  }

  eml_li_find(outliers, tmp_data, tmp_size);
  loop_ub = tmp_size[0] - 1;
  for (i = 0; i <= loop_ub; i++) {
    b_tmp_data[i] = tmp_data[i] - 1;
  }

  loop_ub = tmp_size[0] - 1;
  for (i = 0; i <= loop_ub; i++) {
    XYZ_mat[2592 + b_tmp_data[i]] = mu[2];
  }
}

/* End of code generation (removeOutliers.cpp) */