point_preprocess.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <cmath>
#include <string>
 
namespace pcod_common {
 
enum class PointFeatureNormalizationType { kNone, kValueThreshold, kMinMax, kZScore };
 
PointFeatureNormalizationType ParsePointFeatureNormalizationType(const std::string& value);
 
struct PointPreprocessConfig {
  float x_min = 0.0f;                                                                       
  float x_max = 0.0f;                                                                       
  float y_min = 0.0f;                                                                       
  float y_max = 0.0f;                                                                       
  float z_min = 0.0f;                                                                       
  float z_max = 0.0f;                                                                       
  PointFeatureNormalizationType normalization_type = PointFeatureNormalizationType::kNone;  
  float value_threshold = 1.0f;  
  float min_value = 0.0f;        
  float max_value = 1.0f;        
  float epsilon = 1e-6f;         
 
  bool remove_points_in_zone = false;  
  float nd_x_min = 0.0f;               
  float nd_x_max = 0.0f;               
  float nd_y_min = 0.0f;               
  float nd_y_max = 0.0f;               
 
  bool det_area_remove_outside = false;  
  float da_cx = 0.0f;                    
  float da_cy = 0.0f;                    
  float da_radius = 0.0f;                
  float da_bearing_rad = 0.0f;           
  float da_fov_rad = 0.0f;               
};
 
class PointPreprocessor {
 public:
  explicit PointPreprocessor(const PointPreprocessConfig& config) : config_(config) {}
 
  bool IsPointValid(float x, float y, float z) const;
  void SetZScoreStats(float mean, float stddev);
  float NormalizePointFeature(float intensity) const;
 
 private:
  PointPreprocessConfig config_;
  float z_score_mean_ = 0.0f;
  float z_score_std_ = 1.0f;
};
 
}  // namespace pcod_common