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.
 
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
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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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")),
        removeBeyond(Parametrizable::get<bool>("removeBeyond"))
{
}
 
// 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();
        
        if (removeBeyond) {
                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);
        }
        else {
                const int nbPointsOut = nbPointsIn * (1 - 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[nbPointsIn-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>;