Matches.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
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/*

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>

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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
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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.size() == 0)
        throw ConvergenceError("no outlier to filter");
    
    // get quantile
    nth_element(values.begin(), values.begin() + (values.size() * quantile), values.end());
    return values[values.size() * quantile];
}

template struct PointMatcher<float>::Matches;
template struct PointMatcher<double>::Matches;