KPConv-PyTorch/cpp_wrappers/cpp_subsampling/grid_subsampling/grid_subsampling.h

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2020-03-31 19:42:35 +00:00
#include "../../cpp_utils/cloud/cloud.h"
#include <set>
#include <cstdint>
using namespace std;
class SampledData
{
public:
// Elements
// ********
int count;
PointXYZ point;
vector<float> features;
vector<unordered_map<int, int>> labels;
// Methods
// *******
// Constructor
SampledData()
{
count = 0;
point = PointXYZ();
}
SampledData(const size_t fdim, const size_t ldim)
{
count = 0;
point = PointXYZ();
features = vector<float>(fdim);
labels = vector<unordered_map<int, int>>(ldim);
}
// Method Update
void update_all(const PointXYZ p, vector<float>::iterator f_begin, vector<int>::iterator l_begin)
{
count += 1;
point += p;
transform (features.begin(), features.end(), f_begin, features.begin(), plus<float>());
int i = 0;
for(vector<int>::iterator it = l_begin; it != l_begin + labels.size(); ++it)
{
labels[i][*it] += 1;
i++;
}
return;
}
void update_features(const PointXYZ p, vector<float>::iterator f_begin)
{
count += 1;
point += p;
transform (features.begin(), features.end(), f_begin, features.begin(), plus<float>());
return;
}
void update_classes(const PointXYZ p, vector<int>::iterator l_begin)
{
count += 1;
point += p;
int i = 0;
for(vector<int>::iterator it = l_begin; it != l_begin + labels.size(); ++it)
{
labels[i][*it] += 1;
i++;
}
return;
}
void update_points(const PointXYZ p)
{
count += 1;
point += p;
return;
}
};
void grid_subsampling(vector<PointXYZ>& original_points,
vector<PointXYZ>& subsampled_points,
vector<float>& original_features,
vector<float>& subsampled_features,
vector<int>& original_classes,
vector<int>& subsampled_classes,
float sampleDl,
int verbose);
void batch_grid_subsampling(vector<PointXYZ>& original_points,
vector<PointXYZ>& subsampled_points,
vector<float>& original_features,
vector<float>& subsampled_features,
vector<int>& original_classes,
vector<int>& subsampled_classes,
vector<int>& original_batches,
vector<int>& subsampled_batches,
float sampleDl,
int max_p);