MaxQuantileOnAxis.cpp
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4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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35 #include "MaxQuantileOnAxis.h"
36 
37 #include <algorithm>
38 #include <vector>
39 
40 // MaxQuantileOnAxisDataPointsFilter
41 // Constructor
42 template<typename T>
44  const Parameters& params):
45  PointMatcher<T>::DataPointsFilter("MaxQuantileOnAxisDataPointsFilter",
46  MaxQuantileOnAxisDataPointsFilter::availableParameters(), params),
47  dim(Parametrizable::get<unsigned>("dim")),
48  ratio(Parametrizable::get<T>("ratio")),
49  removeBeyond(Parametrizable::get<bool>("removeBeyond"))
50 {
51 }
52 
53 // Compute
54 template<typename T>
57  const DataPoints& input)
58 {
59  DataPoints output(input);
60  inPlaceFilter(output);
61  return output;
62 }
63 
64 // In-place filter
65 template<typename T>
67 {
68  if (int(dim) >= cloud.features.rows())
69  throw InvalidParameter((boost::format("MaxQuantileOnAxisDataPointsFilter: Error, filtering on dimension number %1%, larger than feature dimensionality %2%") % dim % cloud.features.rows()).str());
70 
71  const int nbPointsIn = cloud.features.cols();
72 
73  if (removeBeyond) {
74  const int nbPointsOut = nbPointsIn * ratio;
75 
76  // build array
77  std::vector<T> values;
78  values.reserve(nbPointsIn);
79  for (int x = 0; x < nbPointsIn; ++x)
80  values.push_back(cloud.features(dim, x));
81 
82  // get quartiles value
83  std::nth_element(values.begin(), values.begin() + (values.size() * ratio), values.end());
84  const T limit = values[nbPointsOut];
85 
86  // copy towards beginning the elements we keep
87  int j = 0;
88  for (int i = 0; i < nbPointsIn; ++i)
89  {
90  if (cloud.features(dim, i) < limit)
91  {
92  assert(j <= i);
93  cloud.setColFrom(j, cloud, i);
94  ++j;
95  }
96  }
97  assert(j <= nbPointsOut);
98 
99  cloud.conservativeResize(j);
100  }
101  else {
102  const int nbPointsOut = nbPointsIn * (1 - ratio);
103 
104  // build array
105  std::vector<T> values;
106  values.reserve(nbPointsIn);
107  for (int x = 0; x < nbPointsIn; ++x)
108  values.push_back(cloud.features(dim, x));
109 
110  // get quartiles value
111  std::nth_element(values.begin(), values.begin() + (values.size() * ratio), values.end());
112 
113  const T limit = values[nbPointsIn-nbPointsOut];
114 
115  // copy towards beginning the elements we keep
116  int j = 0;
117  for (int i = 0; i < nbPointsIn; ++i)
118  {
119  if (cloud.features(dim, i) > limit)
120  {
121  assert(j <= i);
122  cloud.setColFrom(j, cloud, i);
123  ++j;
124  }
125  }
126  assert(j <= nbPointsOut);
127 
128  cloud.conservativeResize(j);
129  }
130 }
131 
134 
135 
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
MaxQuantileOnAxisDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: MaxQuantileOnAxis.h:45
MaxQuantileOnAxisDataPointsFilter
Subsampling. Filter points beyond a maximum quantile measured on a specific axis.
Definition: MaxQuantileOnAxis.h:41
build_map.T
T
Definition: build_map.py:34
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
x
x
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcher::DataPoints::setColFrom
void setColFrom(Index thisCol, const DataPoints &that, Index thatCol)
Set column thisCol equal to column thatCol of that, copy features and descriptors if any....
Definition: pointmatcher/DataPoints.cpp:393
InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: pypoint_matcher_helper.h:42
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
MaxQuantileOnAxisDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: MaxQuantileOnAxis.cpp:56
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::get
const M::mapped_type & get(const M &m, const typename M::key_type &k)
Definition: Bibliography.cpp:57
icp_advance_api.dim
dim
Definition: icp_advance_api.py:152
MaxQuantileOnAxisDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: MaxQuantileOnAxis.cpp:66
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:328
MaxQuantileOnAxisDataPointsFilter::MaxQuantileOnAxisDataPointsFilter
MaxQuantileOnAxisDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: MaxQuantileOnAxis.cpp:43
MaxQuantileOnAxis.h


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