102 lines
2.4 KiB
C
102 lines
2.4 KiB
C
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#include "../../cpp_utils/cloud/cloud.h"
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#include <set>
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#include <cstdint>
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using namespace std;
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class SampledData
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{
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public:
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// Elements
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// ********
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int count;
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PointXYZ point;
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vector<float> features;
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vector<unordered_map<int, int>> labels;
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// Methods
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// *******
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// Constructor
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SampledData()
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{
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count = 0;
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point = PointXYZ();
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}
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SampledData(const size_t fdim, const size_t ldim)
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{
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count = 0;
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point = PointXYZ();
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features = vector<float>(fdim);
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labels = vector<unordered_map<int, int>>(ldim);
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}
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// Method Update
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void update_all(const PointXYZ p, vector<float>::iterator f_begin, vector<int>::iterator l_begin)
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{
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count += 1;
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point += p;
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transform (features.begin(), features.end(), f_begin, features.begin(), plus<float>());
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int i = 0;
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for(vector<int>::iterator it = l_begin; it != l_begin + labels.size(); ++it)
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{
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labels[i][*it] += 1;
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i++;
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}
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return;
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}
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void update_features(const PointXYZ p, vector<float>::iterator f_begin)
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{
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count += 1;
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point += p;
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transform (features.begin(), features.end(), f_begin, features.begin(), plus<float>());
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return;
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}
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void update_classes(const PointXYZ p, vector<int>::iterator l_begin)
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{
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count += 1;
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point += p;
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int i = 0;
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for(vector<int>::iterator it = l_begin; it != l_begin + labels.size(); ++it)
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{
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labels[i][*it] += 1;
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i++;
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}
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return;
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}
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void update_points(const PointXYZ p)
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{
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count += 1;
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point += p;
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return;
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}
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};
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void grid_subsampling(vector<PointXYZ>& original_points,
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vector<PointXYZ>& subsampled_points,
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vector<float>& original_features,
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vector<float>& subsampled_features,
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vector<int>& original_classes,
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vector<int>& subsampled_classes,
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float sampleDl,
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int verbose);
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void batch_grid_subsampling(vector<PointXYZ>& original_points,
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vector<PointXYZ>& subsampled_points,
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vector<float>& original_features,
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vector<float>& subsampled_features,
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vector<int>& original_classes,
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vector<int>& subsampled_classes,
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vector<int>& original_batches,
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vector<int>& subsampled_batches,
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float sampleDl,
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int max_p);
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