Function point_modeling

ops/cpp_modules/src/cpp_modules.cpp:471–518

py::array_t<float> point_modeling(py::array_t<float> range_image, py::array_t<int> seg_idx) {
    // input array
    py::buffer_info ri_buf = range_image.request();
    float *ri_ptr = (float *) ri_buf.ptr;
    py::buffer_info si_buf = seg_idx.request();
    int *si_ptr = (int *) si_buf.ptr;
    int h = si_buf.shape[0];
    int w = si_buf.shape[1];


    int cluster_num = 0;
    for (int h_i = 0; h_i < h; h_i++)
        for (int w_i = 0; w_i < w; w_i++)
            if (si_ptr[h_i * w + w_i] > cluster_num)
                cluster_num = si_ptr[h_i * w + w_i];
    cluster_num += 1;

    vector< vector<float> > cluster_points;
    for (int i = 0; i < cluster_num; i++){
        vector<float> cur_cluster;
        cluster_points.push_back(cur_cluster);
    }

    for (int h_i = 0; h_i < h; h_i++) {
        for (int w_i = 0; w_i < w; w_i++){
            int idx = si_ptr[h_i * w + w_i];
            if (idx != 0 && idx != 1){
                cluster_points[idx].push_back(ri_ptr[h_i * w + w_i]);
            }
        }
    }


    // return array
    auto point_model = py::array_t<float>(cluster_num);
    py::buffer_info qm_buf = point_model.request();
    float *qm_ptr = (float *) qm_buf.ptr;


    for (int i = 0; i < cluster_num; i++){
        if (i == 0 || i == 1)
            qm_ptr[i] = 0.0;
        else
            qm_ptr[i] = accumulate( cluster_points[i].begin(), cluster_points[i].end(), 0.0)/cluster_points[i].size();
    }

    return point_model;
}


std::tuple<py::array_t<int>, py::array_t<int>> extract_contour(py::array_t<int> idx_map) {