point_cloud_uniform_sampler.h

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#ifndef MCL_3DL_POINT_CLOUD_RANDOM_SAMPLERS_POINT_CLOUD_UNIFORM_SAMPLER_H
#define MCL_3DL_POINT_CLOUD_RANDOM_SAMPLERS_POINT_CLOUD_UNIFORM_SAMPLER_H

#include <memory>
#include <random>

#include <pcl/point_cloud.h>

#include <mcl_3dl/point_cloud_random_sampler.h>

namespace mcl_3dl
{
template <class POINT_TYPE>
class PointCloudUniformSampler : public PointCloudRandomSampler<POINT_TYPE>
{
private:
  std::random_device seed_gen_;
  std::shared_ptr<std::default_random_engine> engine_;

public:
  PointCloudUniformSampler()
    : engine_(new std::default_random_engine(seed_gen_()))
  {
  }
  typename pcl::PointCloud<POINT_TYPE>::Ptr sample(
      const typename pcl::PointCloud<POINT_TYPE>::ConstPtr& pc,
      const size_t num) const final
  {
    typename pcl::PointCloud<POINT_TYPE>::Ptr output(new pcl::PointCloud<POINT_TYPE>);
    output->header = pc->header;

    if (pc->points.size() == 0)
      return output;

    output->points.reserve(num);
    std::uniform_int_distribution<size_t> ud(0, pc->points.size() - 1);
    for (size_t i = 0; i < num; i++)
    {
      output->push_back(pc->points[ud(*engine_)]);
    }

    return output;
  }
};

}  // namespace mcl_3dl

#endif  // MCL_3DL_POINT_CLOUD_RANDOM_SAMPLERS_POINT_CLOUD_UNIFORM_SAMPLER_H