normal_space.h

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#ifndef PCL_FILTERS_NORMAL_SUBSAMPLE_H_
#define PCL_FILTERS_NORMAL_SUBSAMPLE_H_

#include <pcl/filters/boost.h>
#include <pcl/filters/filter_indices.h>
#include <time.h>
#include <limits.h>

namespace pcl
{
  template<typename PointT, typename NormalT>
  class NormalSpaceSampling : public FilterIndices<PointT>
  {
    using FilterIndices<PointT>::filter_name_;
    using FilterIndices<PointT>::getClassName;
    using FilterIndices<PointT>::indices_;
    using FilterIndices<PointT>::input_;
    using FilterIndices<PointT>::keep_organized_;
    using FilterIndices<PointT>::extract_removed_indices_;
    using FilterIndices<PointT>::removed_indices_;
    using FilterIndices<PointT>::user_filter_value_;

    typedef typename FilterIndices<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;
    typedef typename pcl::PointCloud<NormalT>::ConstPtr NormalsConstPtr;

    public:
      
      typedef boost::shared_ptr<NormalSpaceSampling<PointT, NormalT> > Ptr;
      typedef boost::shared_ptr<const NormalSpaceSampling<PointT, NormalT> > ConstPtr;

      NormalSpaceSampling ()
        : sample_ (std::numeric_limits<unsigned int>::max ())
        , seed_ (static_cast<unsigned int> (time (NULL)))
        , binsx_ ()
        , binsy_ ()
        , binsz_ ()
        , input_normals_ ()
        , rng_uniform_distribution_ (NULL)
      {
        filter_name_ = "NormalSpaceSampling";
      }

      ~NormalSpaceSampling ()
      {
        if (rng_uniform_distribution_ != NULL)
          delete rng_uniform_distribution_;
      }

      inline void
      setSample (unsigned int sample)
      { sample_ = sample; }

      inline unsigned int
      getSample () const
      { return (sample_); }

      inline void
      setSeed (unsigned int seed)
      { seed_ = seed; }

      inline unsigned int
      getSeed () const
      { return (seed_); }

      inline void 
      setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
      {
        binsx_ = binsx;
        binsy_ = binsy;
        binsz_ = binsz;
      }

      inline void 
      getBins (unsigned int& binsx, unsigned int& binsy, unsigned int& binsz) const
      {
        binsx = binsx_;
        binsy = binsy_;
        binsz = binsz_;
      }

      inline void 
      setNormals (const NormalsConstPtr &normals) { input_normals_ = normals; }

      inline NormalsConstPtr
      getNormals () const { return (input_normals_); }

    protected:
      unsigned int sample_;
      unsigned int seed_;

      unsigned int binsx_;
      unsigned int binsy_;
      unsigned int binsz_;
     
      NormalsConstPtr input_normals_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices);

      bool
      initCompute ();

    private:
      unsigned int 
      findBin (const float *normal, unsigned int nbins);

      bool
      isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length);

      boost::variate_generator<boost::mt19937, boost::uniform_int<uint32_t> > *rng_uniform_distribution_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/normal_space.hpp>
#endif

#endif  //#ifndef PCL_FILTERS_NORMAL_SPACE_SUBSAMPLE_H_