pcod_common::PointPreprocessor Class Reference

#include <point_preprocess.hpp>

Public Member Functions
	PointPreprocessor (const PointPreprocessConfig &config)
bool	IsPointValid (float x, float y, float z) const
void	SetZScoreStats (float mean, float stddev)
float	NormalizePointFeature (float intensity) const

Detailed Description

Apply the configured geometric filters and scalar feature normalization.

Definition at line 46 of file point_preprocess.hpp.

Constructor & Destructor Documentation

PointPreprocessor()

pcod_common::PointPreprocessor::PointPreprocessor ( const PointPreprocessConfig & config )

inlineexplicit

Parameters

config

Initial preprocessing configuration.

Definition at line 49 of file point_preprocess.hpp.

: config_(config) {}

Member Function Documentation

IsPointValid()

bool pcod_common::PointPreprocessor::IsPointValid	(	float	x,
		float	y,
		float	z ) const

Parameters

x	Point X.
y	Point Y.
z	Point Z.

Returns

Whether the point passes all filters.

Definition at line 26 of file point_preprocess.cpp.

                                                                    {
  const bool in_range = (x >= config_.x_min && x < config_.x_max && !std::isnan(x) && y >= config_.y_min && y < config_.y_max &&
                         !std::isnan(y) && z >= config_.z_min && z < config_.z_max && !std::isnan(z));
  if (!in_range) {
    return false;
  }
 
  if (config_.det_area_remove_outside) {
    const float delta_x = x - config_.da_cx;
    const float delta_y = y - config_.da_cy;
    const float squared_distance_to_center = delta_x * delta_x + delta_y * delta_y;
    if (squared_distance_to_center > config_.da_radius * config_.da_radius) {
      return false;
    }
    float angle_to_center = std::atan2(delta_y, delta_x);
    float angle_offset = angle_to_center - config_.da_bearing_rad;
    while (angle_offset > static_cast<float>(M_PI)) {
      angle_offset -= static_cast<float>(2.0 * M_PI);
    }
    while (angle_offset < static_cast<float>(-M_PI)) {
      angle_offset += static_cast<float>(2.0 * M_PI);
    }
    if (std::abs(angle_offset) > config_.da_fov_rad * 0.5F + 1e-6F) {
      return false;
    }
  }
 
  if (config_.remove_points_in_zone) {
    const bool in_nd_zone = (x >= config_.nd_x_min && x <= config_.nd_x_max && y >= config_.nd_y_min && y <= config_.nd_y_max);
    if (in_nd_zone) {
      return false;
    }
  }
 
  return true;
}

References pcod_common::PointPreprocessConfig::da_bearing_rad, pcod_common::PointPreprocessConfig::da_cx, pcod_common::PointPreprocessConfig::da_cy, pcod_common::PointPreprocessConfig::da_fov_rad, pcod_common::PointPreprocessConfig::da_radius, pcod_common::PointPreprocessConfig::det_area_remove_outside, pcod_common::PointPreprocessConfig::nd_x_max, pcod_common::PointPreprocessConfig::nd_x_min, pcod_common::PointPreprocessConfig::nd_y_max, pcod_common::PointPreprocessConfig::nd_y_min, pcod_common::PointPreprocessConfig::remove_points_in_zone, pcod_common::PointPreprocessConfig::x_max, pcod_common::PointPreprocessConfig::x_min, pcod_common::PointPreprocessConfig::y_max, pcod_common::PointPreprocessConfig::y_min, pcod_common::PointPreprocessConfig::z_max, and pcod_common::PointPreprocessConfig::z_min.

Referenced by main().

NormalizePointFeature()

float pcod_common::PointPreprocessor::NormalizePointFeature

(

float

intensity

)

const

Parameters

intensity

Raw additional feature.

Returns

Normalized and clamped value.

Definition at line 68 of file point_preprocess.cpp.

                                                                    {
  if (config_.normalization_type == PointFeatureNormalizationType::kNone) {
    return intensity;
  }
  if (config_.normalization_type == PointFeatureNormalizationType::kValueThreshold) {
    if (config_.value_threshold <= 0.0F) {
      return intensity;
    }
    const float clipped = std::min(std::max(intensity, 0.0F), config_.value_threshold);
    return clipped / std::max(config_.value_threshold, config_.epsilon);
  }
  if (config_.normalization_type == PointFeatureNormalizationType::kMinMax) {
    const float denom = std::max(config_.max_value - config_.min_value, config_.epsilon);
    const float scaled = (intensity - config_.min_value) / denom;
    return std::min(std::max(scaled, 0.0F), 1.0F);
  }
  if (config_.normalization_type == PointFeatureNormalizationType::kZScore) {
    return (intensity - z_score_mean_) / std::max(z_score_std_, config_.epsilon);
  }
  return intensity;
}

References pcod_common::PointPreprocessConfig::epsilon, pcod_common::kMinMax, pcod_common::kNone, pcod_common::kValueThreshold, pcod_common::kZScore, pcod_common::PointPreprocessConfig::max_value, pcod_common::PointPreprocessConfig::min_value, pcod_common::PointPreprocessConfig::normalization_type, and pcod_common::PointPreprocessConfig::value_threshold.

Referenced by main().

SetZScoreStats()

void pcod_common::PointPreprocessor::SetZScoreStats	(	float	mean,
		float	stddev )

Parameters

mean	Training mean.
stddev	Training standard deviation.

Definition at line 63 of file point_preprocess.cpp.

                                                               {
  z_score_mean_ = mean;
  z_score_std_ = std::abs(stddev) > config_.epsilon ? stddev : config_.epsilon;
}

References pcod_common::PointPreprocessConfig::epsilon.

Referenced by main().

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The documentation for this class was generated from the following files:

• include/pcod_common/point_preprocess.hpp
• src/point_preprocess.cpp