FixStepSampling.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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*/
#pragma once

#include "PointMatcher.h"

template<typename T>
struct FixStepSamplingDataPointsFilter: public PointMatcher<T>::DataPointsFilter
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        
        inline static const std::string description()
        {
                return "Subsampling. This filter reduces the size of the point cloud by only keeping one point over step ones; with step varying in time from startStep to endStep, each iteration getting multiplied by stepMult. If use as prefilter (i.e. before the iterations), only startStep is used.";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"startStep", "initial number of point to skip (initial decimation factor)", "10", "1", "2147483647", &P::Comp<unsigned>},
                        {"endStep", "maximal or minimal number of points to skip (final decimation factor)", "10", "1", "2147483647", &P::Comp<unsigned>},
                        {"stepMult", "multiplication factor to compute the new decimation factor for each iteration", "1", "0.0000001", "inf", &P::Comp<double>}
                };
        }
        
        // number of steps to skip
        const unsigned startStep;
        const unsigned endStep;
        const double stepMult;

protected:
        double step;
        
public:
        FixStepSamplingDataPointsFilter(const Parameters& params = Parameters());
        virtual ~FixStepSamplingDataPointsFilter() {};
        virtual void init();
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};