Open3D (C++ API)  0.15.1
GridSubsampling.h
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33// of this software and associated documentation files (the "Software"), to deal
34// in the Software without restriction, including without limitation the rights
35// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
36// copies of the Software, and to permit persons to whom the Software is
37// furnished to do so, subject to the following conditions:
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39// The above copyright notice and this permission notice shall be included in
40// all copies or substantial portions of the Software.
41//
42// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
43// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
44// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
45// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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48// SOFTWARE.
49
50#include <cstdint>
51#include <set>
52
54
55namespace open3d {
56namespace ml {
57namespace contrib {
58
60public:
61 // Elements
62 // ********
63
64 int count;
66 std::vector<float> features;
67 std::vector<std::unordered_map<int, int>> labels;
68
69 // Methods
70 // *******
71
72 // Constructor
74 count = 0;
75 point = PointXYZ();
76 }
77
78 SampledData(const size_t fdim, const size_t ldim) {
79 count = 0;
80 point = PointXYZ();
81 features = std::vector<float>(fdim);
82 labels = std::vector<std::unordered_map<int, int>>(ldim);
83 }
84
85 // Method Update
86 void update_all(const PointXYZ p,
87 std::vector<float>::iterator f_begin,
88 std::vector<int>::iterator l_begin) {
89 count += 1;
90 point += p;
91 transform(features.begin(), features.end(), f_begin, features.begin(),
92 std::plus<float>());
93 int i = 0;
94 for (std::vector<int>::iterator it = l_begin;
95 it != l_begin + labels.size(); ++it) {
96 labels[i][*it] += 1;
97 i++;
98 }
99 return;
100 }
101
103 std::vector<float>::iterator f_begin) {
104 count += 1;
105 point += p;
106 transform(features.begin(), features.end(), f_begin, features.begin(),
107 std::plus<float>());
108 return;
109 }
110
111 void update_classes(const PointXYZ p, std::vector<int>::iterator l_begin) {
112 count += 1;
113 point += p;
114 int i = 0;
115 for (std::vector<int>::iterator it = l_begin;
116 it != l_begin + labels.size(); ++it) {
117 labels[i][*it] += 1;
118 i++;
119 }
120 return;
121 }
122
123 void update_points(const PointXYZ p) {
124 count += 1;
125 point += p;
126 return;
127 }
128};
129
130void grid_subsampling(std::vector<PointXYZ>& original_points,
131 std::vector<PointXYZ>& subsampled_points,
132 std::vector<float>& original_features,
133 std::vector<float>& subsampled_features,
134 std::vector<int>& original_classes,
135 std::vector<int>& subsampled_classes,
136 float sampleDl,
137 int verbose);
138
139void batch_grid_subsampling(std::vector<PointXYZ>& original_points,
140 std::vector<PointXYZ>& subsampled_points,
141 std::vector<float>& original_features,
142 std::vector<float>& subsampled_features,
143 std::vector<int>& original_classes,
144 std::vector<int>& subsampled_classes,
145 std::vector<int>& original_batches,
146 std::vector<int>& subsampled_batches,
147 float sampleDl,
148 int max_p);
149
150} // namespace contrib
151} // namespace ml
152} // namespace open3d
Definition: Cloud.h:88
Definition: GridSubsampling.h:59
void update_features(const PointXYZ p, std::vector< float >::iterator f_begin)
Definition: GridSubsampling.h:102
SampledData(const size_t fdim, const size_t ldim)
Definition: GridSubsampling.h:78
void update_classes(const PointXYZ p, std::vector< int >::iterator l_begin)
Definition: GridSubsampling.h:111
std::vector< std::unordered_map< int, int > > labels
Definition: GridSubsampling.h:67
void update_points(const PointXYZ p)
Definition: GridSubsampling.h:123
void update_all(const PointXYZ p, std::vector< float >::iterator f_begin, std::vector< int >::iterator l_begin)
Definition: GridSubsampling.h:86
PointXYZ point
Definition: GridSubsampling.h:65
SampledData()
Definition: GridSubsampling.h:73
std::vector< float > features
Definition: GridSubsampling.h:66
int count
Definition: GridSubsampling.h:64
void grid_subsampling(std::vector< PointXYZ > &original_points, std::vector< PointXYZ > &subsampled_points, std::vector< float > &original_features, std::vector< float > &subsampled_features, std::vector< int > &original_classes, std::vector< int > &subsampled_classes, float sampleDl, int verbose)
Definition: GridSubsampling.cpp:56
void batch_grid_subsampling(std::vector< PointXYZ > &original_points, std::vector< PointXYZ > &subsampled_points, std::vector< float > &original_features, std::vector< float > &subsampled_features, std::vector< int > &original_classes, std::vector< int > &subsampled_classes, std::vector< int > &original_batches, std::vector< int > &subsampled_batches, float sampleDl, int max_p)
Definition: GridSubsampling.cpp:164
Definition: PinholeCameraIntrinsic.cpp:35