MaxQuantileOnAxis.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/
#include "MaxQuantileOnAxis.h"

#include <algorithm>
#include <vector>

// MaxQuantileOnAxisDataPointsFilter
// Constructor
template<typename T>
MaxQuantileOnAxisDataPointsFilter<T>::MaxQuantileOnAxisDataPointsFilter(
        const Parameters& params): 
        PointMatcher<T>::DataPointsFilter("MaxQuantileOnAxisDataPointsFilter",
                MaxQuantileOnAxisDataPointsFilter::availableParameters(), params),
        dim(Parametrizable::get<unsigned>("dim")),
        ratio(Parametrizable::get<T>("ratio"))
{
}

// Compute
template<typename T>
typename PointMatcher<T>::DataPoints 
MaxQuantileOnAxisDataPointsFilter<T>::filter(
        const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}

// In-place filter
template<typename T>
void MaxQuantileOnAxisDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{
        if (int(dim) >= cloud.features.rows())
                throw InvalidParameter((boost::format("MaxQuantileOnAxisDataPointsFilter: Error, filtering on dimension number %1%, larger than feature dimensionality %2%") % dim % cloud.features.rows()).str());

        const int nbPointsIn = cloud.features.cols();
        const int nbPointsOut = nbPointsIn * ratio;

        // build array
        std::vector<T> values;
        values.reserve(nbPointsIn);
        for (int x = 0; x < nbPointsIn; ++x)
                values.push_back(cloud.features(dim, x));

        // get quartiles value
        std::nth_element(values.begin(), values.begin() + (values.size() * ratio), values.end());
        const T limit = values[nbPointsOut];

        // copy towards beginning the elements we keep
        int j = 0;
        for (int i = 0; i < nbPointsIn; ++i)
        {
                if (cloud.features(dim, i) < limit)
                {
                        assert(j <= i);
                        cloud.setColFrom(j, cloud, i);
                        ++j;
                }
        }
        assert(j <= nbPointsOut);

        cloud.conservativeResize(j);

}

template struct MaxQuantileOnAxisDataPointsFilter<float>;
template struct MaxQuantileOnAxisDataPointsFilter<double>;