random_sample.h

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/*
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 * $Id: extract_indices.h 1370 2011-06-19 01:06:01Z jspricke $
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#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
#define PCL_FILTERS_RANDOM_SUBSAMPLE_H_

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

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

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

    public:

      typedef boost::shared_ptr< RandomSample<PointT> > Ptr;
      typedef boost::shared_ptr< const RandomSample<PointT> > ConstPtr;

      RandomSample (bool extract_removed_indices = false) : 
        FilterIndices<PointT> (extract_removed_indices),
        sample_ (UINT_MAX), 
        seed_ (static_cast<unsigned int> (time (NULL)))
      {
        filter_name_ = "RandomSample";
      }

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

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

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

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

    protected:

      unsigned int sample_;
      unsigned int seed_;

      void
      applyFilter (PointCloud &output);

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

      inline float
      unifRand ()
      {
        return (static_cast<float>(rand () / double (RAND_MAX)));
        //return (((214013 * seed_ + 2531011) >> 16) & 0x7FFF);
      }
  };

  template<>
  class PCL_EXPORTS RandomSample<pcl::PCLPointCloud2> : public FilterIndices<pcl::PCLPointCloud2>
  {
    using FilterIndices<pcl::PCLPointCloud2>::filter_name_;
    using FilterIndices<pcl::PCLPointCloud2>::getClassName;

    typedef pcl::PCLPointCloud2 PCLPointCloud2;
    typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr;
    typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;

    public:
  
      typedef boost::shared_ptr<RandomSample<pcl::PCLPointCloud2> > Ptr;
      typedef boost::shared_ptr<const RandomSample<pcl::PCLPointCloud2> > ConstPtr;
  
      RandomSample () : sample_ (UINT_MAX), seed_ (static_cast<unsigned int> (time (NULL)))
      {
        filter_name_ = "RandomSample";
      }

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

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

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

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

    protected:

      unsigned int sample_;
      unsigned int seed_;

      void
      applyFilter (PCLPointCloud2 &output);

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

      inline float
      unifRand ()
      {
        return (static_cast<float> (rand () / double (RAND_MAX)));
        //return (((214013 * seed_ + 2531011) >> 16) & 0x7FFF);
      }
   };
}

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

#endif  //#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_