MaxQuantileOnAxis.h

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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.
 
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modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
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      names of its contributors may be used to endorse or promote products
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*/
#pragma once
 
#include "PointMatcher.h"
 
template< typename T>
struct MaxQuantileOnAxisDataPointsFilter: public PointMatcher<T>::DataPointsFilter
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        
        inline static const std::string description()
        {
                return "Subsampling. Filter points under or beyond a maximum quantile measured on a specific axis.";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"dim", "dimension on which the filter will be applied. x=0, y=1, z=2", "0", "0", "2", &P::Comp<unsigned>},
                        {"ratio", "maximum quantile authorized. All points beyond that will be filtered.", "0.5", "0.0000001", "0.9999999", &P::Comp<T>},
                        {"removeBeyond", "If set to true (1), remove points beyond the quantile ratio; else (0), remove points under the quantile ratio", "1", "0", "1", P::Comp<bool>}
                };
        }
        
        const unsigned dim;
        const T ratio;
        const bool removeBeyond;
        
        MaxQuantileOnAxisDataPointsFilter(const Parameters& params = Parameters());
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};