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.

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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.
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      documentation and/or other materials provided with the distribution.
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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 "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");

        if (quantile < 0.0 || quantile > 1.0)
                throw ConvergenceError("quantile must be between 0 and 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("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;