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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      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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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>;