Open3D (C++ API)  0.18.0+252c867
GridSubsampling.h
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30 
31 #include <cstdint>
32 #include <set>
33 
35 
36 namespace open3d {
37 namespace ml {
38 namespace contrib {
39 
40 class SampledData {
41 public:
42  // Elements
43  // ********
44 
45  int count;
47  std::vector<float> features;
48  std::vector<std::unordered_map<int, int>> labels;
49 
50  // Methods
51  // *******
52 
53  // Constructor
55  count = 0;
56  point = PointXYZ();
57  }
58 
59  SampledData(const size_t fdim, const size_t ldim) {
60  count = 0;
61  point = PointXYZ();
62  features = std::vector<float>(fdim);
63  labels = std::vector<std::unordered_map<int, int>>(ldim);
64  }
65 
66  // Method Update
67  void update_all(const PointXYZ p,
68  std::vector<float>::iterator f_begin,
69  std::vector<int>::iterator l_begin) {
70  count += 1;
71  point += p;
72  transform(features.begin(), features.end(), f_begin, features.begin(),
73  std::plus<float>());
74  int i = 0;
75  for (std::vector<int>::iterator it = l_begin;
76  it != l_begin + labels.size(); ++it) {
77  labels[i][*it] += 1;
78  i++;
79  }
80  return;
81  }
82 
83  void update_features(const PointXYZ p,
84  std::vector<float>::iterator f_begin) {
85  count += 1;
86  point += p;
87  transform(features.begin(), features.end(), f_begin, features.begin(),
88  std::plus<float>());
89  return;
90  }
91 
92  void update_classes(const PointXYZ p, std::vector<int>::iterator l_begin) {
93  count += 1;
94  point += p;
95  int i = 0;
96  for (std::vector<int>::iterator it = l_begin;
97  it != l_begin + labels.size(); ++it) {
98  labels[i][*it] += 1;
99  i++;
100  }
101  return;
102  }
103 
104  void update_points(const PointXYZ p) {
105  count += 1;
106  point += p;
107  return;
108  }
109 };
110 
111 void grid_subsampling(std::vector<PointXYZ>& original_points,
112  std::vector<PointXYZ>& subsampled_points,
113  std::vector<float>& original_features,
114  std::vector<float>& subsampled_features,
115  std::vector<int>& original_classes,
116  std::vector<int>& subsampled_classes,
117  float sampleDl,
118  int verbose);
119 
120 void batch_grid_subsampling(std::vector<PointXYZ>& original_points,
121  std::vector<PointXYZ>& subsampled_points,
122  std::vector<float>& original_features,
123  std::vector<float>& subsampled_features,
124  std::vector<int>& original_classes,
125  std::vector<int>& subsampled_classes,
126  std::vector<int>& original_batches,
127  std::vector<int>& subsampled_batches,
128  float sampleDl,
129  int max_p);
130 
131 } // namespace contrib
132 } // namespace ml
133 } // namespace open3d
Definition: Cloud.h:69
Definition: GridSubsampling.h:40
void update_features(const PointXYZ p, std::vector< float >::iterator f_begin)
Definition: GridSubsampling.h:83
SampledData(const size_t fdim, const size_t ldim)
Definition: GridSubsampling.h:59
void update_classes(const PointXYZ p, std::vector< int >::iterator l_begin)
Definition: GridSubsampling.h:92
std::vector< std::unordered_map< int, int > > labels
Definition: GridSubsampling.h:48
void update_points(const PointXYZ p)
Definition: GridSubsampling.h:104
void update_all(const PointXYZ p, std::vector< float >::iterator f_begin, std::vector< int >::iterator l_begin)
Definition: GridSubsampling.h:67
PointXYZ point
Definition: GridSubsampling.h:46
SampledData()
Definition: GridSubsampling.h:54
std::vector< float > features
Definition: GridSubsampling.h:47
int count
Definition: GridSubsampling.h:45
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:37
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:145
Definition: PinholeCameraIntrinsic.cpp:16