如何通过高斯平滑（C++）来平滑二维坐标的向量？

Question

我有一个 std::vector 的 2d 或 3d 坐标。我需要对其应用高斯平滑，以获得平滑的曲线。

怎么做？我可以平滑浮点值的向量，但我不知道如何平滑多维值。

Answer 1

好的，我只是独立地平滑了每个坐标并且它起作用了：

void PathControllerGaussian::smooth_path_gaussian(FuturePath & path, unsigned future_steps)
{
    smooth_dimension_gaussian(path.pos, 0, future_steps);
    smooth_dimension_gaussian(path.pos, 1, future_steps);
    smooth_dimension_gaussian(path.pos, 2, future_steps);
}

void PathControllerGaussian::smooth_dimension_gaussian(PathVec & vec, unsigned dim_index, unsigned vec_size)
{
    float sum;

    for (unsigned i = gaussian_kernel_size / 2; i < vec_size - gaussian_kernel_size / 2; ++i)
    {
        sum = 0;
        for (int j = 0; j < gaussian_kernel_size; ++j)
        {
            sum += vec[i + j - gaussian_kernel_size / 2][dim_index] * gaussian_kernel[j];
        }

        vec[i][dim_index] = sum;
    }
}

float PathControllerGaussian::gaussian(float value, float sigma)
{
    return 1 / sqrt(2 * M_PI * sigma * sigma) * std::exp(- (value * value) / (2 * sigma * sigma));
}

void PathControllerGaussian::prepare_gaussian_kernel(unsigned size, float sigma)
{
    gaussian_kernel_size = size;
    gaussian_sigma = sigma;
    gaussian_kernel.clear();

    int mid_point = gaussian_kernel_size / 2;

    for (int i = 0; i < gaussian_kernel_size; ++i)
    {
        gaussian_kernel.push_back(gaussian(i - mid_point, gaussian_sigma));
    }
}

如何通过高斯平滑（C++）来平滑二维坐标的向量？

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