MaxPointCount.h

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/*

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.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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*/
#pragma once

#include "PointMatcher.h"

template<typename T>
struct MaxPointCountDataPointsFilter: 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 "Conditional subsampling. This filter reduces the size of the point cloud by randomly dropping points if their number is above maxCount. Based on \\cite{Masuda1996Random}";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"seed",     "srand seed",               "1",    "0", "2147483647", &P::Comp<size_t>},
                        {"maxCount", "maximum number of points", "1000", "0", "2147483647", &P::Comp<size_t>}
                }
                ;
        }

        const size_t maxCount;
        size_t seed;

        MaxPointCountDataPointsFilter(const Parameters& params = Parameters());
        virtual ~MaxPointCountDataPointsFilter() {};
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};