Matches.cpp
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #include "PointMatcher.h"
00037 #include "PointMatcherPrivate.h"
00038 
00039 using namespace std;
00040 
00042 template<typename T>
00043 PointMatcher<T>::Matches::Matches() {}
00044 
00046 template<typename T>
00047 PointMatcher<T>::Matches::Matches(const Dists& dists, const Ids ids):
00048         dists(dists),
00049         ids(ids)
00050 {}
00051 
00053 template<typename T>
00054 PointMatcher<T>::Matches::Matches(const int knn, const int pointsCount):
00055         dists(Dists(knn, pointsCount)),
00056         ids(Ids(knn, pointsCount))
00057 {}
00058 
00060 template<typename T>
00061 T PointMatcher<T>::Matches::getDistsQuantile(const T quantile) const
00062 {
00063         // build array
00064         vector<T> values;
00065         values.reserve(dists.rows() * dists.cols());
00066         for (int x = 0; x < dists.cols(); ++x)
00067                 for (int y = 0; y < dists.rows(); ++y)
00068                         if (dists(y, x) != numeric_limits<T>::infinity())
00069                                 values.push_back(dists(y, x));
00070         if (values.size() == 0)
00071                 throw ConvergenceError("no outlier to filter");
00072         
00073         // get quantile
00074         nth_element(values.begin(), values.begin() + (values.size() * quantile), values.end());
00075         return values[values.size() * quantile];
00076 }
00077 
00078 template struct PointMatcher<float>::Matches;
00079 template struct PointMatcher<double>::Matches;


libpointmatcher
Author(s):
autogenerated on Mon Sep 14 2015 02:59:06