RandomSampling.cpp

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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.

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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      notice, this list of conditions and the following disclaimer.
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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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*/
#include "RandomSampling.h"

// RandomSamplingDataPointsFilter
// Constructor
template<typename T>
RandomSamplingDataPointsFilter<T>::RandomSamplingDataPointsFilter(const Parameters& params):
        PointMatcher<T>::DataPointsFilter("RandomSamplingDataPointsFilter", RandomSamplingDataPointsFilter::availableParameters(), params),
        prob(Parametrizable::get<double>("prob"))
{
}

// Compute
template<typename T>
typename PointMatcher<T>::DataPoints
RandomSamplingDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}

// In-place filter
template<typename T>
void RandomSamplingDataPointsFilter<T>::inPlaceFilter(
        DataPoints& cloud)
{
        const int nbPointsIn = cloud.features.cols();

        int j = 0;
        for (int i = 0; i < nbPointsIn; ++i)
        {
                const float r = (float)std::rand()/(float)RAND_MAX;
                if (r < prob)
                {
                        cloud.setColFrom(j, cloud, i);
                        ++j;
                }
        }

        cloud.conservativeResize(j);
}

template struct RandomSamplingDataPointsFilter<float>;
template struct RandomSamplingDataPointsFilter<double>;