MaxDensity.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.

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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 MaxDensityDataPointsFilter: 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;
        typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;
        
        inline static const std::string description()
        {
                return "Subsampling. Reduce the points number by randomly removing points with a density highler than a treshold.";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"maxDensity", "Maximum density of points to target. Unit: number of points per m^3.", "10", "0.0000001", "inf", &P::Comp<T>}
                };
        }
        
        const T maxDensity;
        
        MaxDensityDataPointsFilter(const Parameters& params = Parameters());
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};