Matches.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*
 
Copyright (c) 2010--2012,
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.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
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*/
 
#include "PointMatcher.h"
#include "PointMatcherPrivate.h"
 
using namespace std;
 
template<typename T>
PointMatcher<T>::Matches::Matches() {}
 
template<typename T>
PointMatcher<T>::Matches::Matches(const Dists& dists, const Ids ids):
        dists(dists),
        ids(ids)
{}
 
template<typename T>
PointMatcher<T>::Matches::Matches(const int knn, const int pointsCount):
        dists(Dists(knn, pointsCount)),
        ids(Ids(knn, pointsCount))
{}
 
template<typename T>
T PointMatcher<T>::Matches::getDistsQuantile(const T quantile) const
{
        // build array
        vector<T> values;
        values.reserve(dists.rows() * dists.cols());
        for (int x = 0; x < dists.cols(); ++x)
        {
                for (int y = 0; y < dists.rows(); ++y)
                {
                        if (dists(y, x) != numeric_limits<T>::infinity())
                        {
                                values.push_back(dists(y, x));
                        }
                }
        }
        if (values.empty())
                throw ConvergenceError("No matches available for computing distance quantiles");
 
        if (quantile < 0.0 || quantile > 1.0)
                throw ConvergenceError("Distance quantile of matches must lie in the range [0,1]");
 
        // get quantile
        if (quantile == 1.0)
                return *max_element(values.begin(), values.end());
        nth_element(values.begin(), values.begin() + (values.size() * quantile), values.end());
        return values[values.size() * quantile];
}
 
template<typename T>
T PointMatcher<T>::Matches::getMedianAbsDeviation() const
{
        vector<T> values;
        values.reserve(dists.rows() * dists.cols());
        const long cols = dists.cols();
        const long rows = dists.rows();
        for (int x = 0; x < cols; ++x)
        {
                for (int y = 0; y < rows; ++y)
                {
                        if (dists(y, x) != numeric_limits<T>::infinity())
                        {
                                values.push_back(dists(y, x));
                        }
                }
        }
        if (values.size() == 0)
                throw ConvergenceError("[getMedianAbsDeviation] no outlier to filter");
 
        nth_element(values.begin(), values.begin() + (values.size() / 2), values.end());
        const T median =  values[values.size() / 2];
 
        // Compute absolute deviation
        const unsigned size = values.size();
        for (unsigned i = 0; i < size; ++i)
        {
                values[i] = fabs(values[i] - median);
        }
        // Median of the absolute deviation
        nth_element(values.begin(), values.begin() + (values.size() / 2), values.end());
        return values[values.size() / 2];
}
 
template<typename T>
T PointMatcher<T>::Matches::getStandardDeviation() const
{
        auto d = dists.array();
        return std::sqrt((d - d.mean()).square().sum()/(d.size()-1));
}
 
 
template struct PointMatcher<float>::Matches;
template struct PointMatcher<double>::Matches;