RandomSampling.cpp
Go to the documentation of this file.
00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2018,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 #include "RandomSampling.h"
00036 
00037 // RandomSamplingDataPointsFilter
00038 // Constructor
00039 template<typename T>
00040 RandomSamplingDataPointsFilter<T>::RandomSamplingDataPointsFilter(const Parameters& params):
00041         PointMatcher<T>::DataPointsFilter("RandomSamplingDataPointsFilter", RandomSamplingDataPointsFilter::availableParameters(), params),
00042         prob(Parametrizable::get<double>("prob"))
00043 {
00044 }
00045 
00046 // Compute
00047 template<typename T>
00048 typename PointMatcher<T>::DataPoints
00049 RandomSamplingDataPointsFilter<T>::filter(const DataPoints& input)
00050 {
00051         DataPoints output(input);
00052         inPlaceFilter(output);
00053         return output;
00054 }
00055 
00056 // In-place filter
00057 template<typename T>
00058 void RandomSamplingDataPointsFilter<T>::inPlaceFilter(
00059         DataPoints& cloud)
00060 {
00061         const int nbPointsIn = cloud.features.cols();
00062 
00063         int j = 0;
00064         for (int i = 0; i < nbPointsIn; ++i)
00065         {
00066                 const float r = (float)std::rand()/(float)RAND_MAX;
00067                 if (r < prob)
00068                 {
00069                         cloud.setColFrom(j, cloud, i);
00070                         ++j;
00071                 }
00072         }
00073 
00074         cloud.conservativeResize(j);
00075 }
00076 
00077 template struct RandomSamplingDataPointsFilter<float>;
00078 template struct RandomSamplingDataPointsFilter<double>;
00079 
00080 


libpointmatcher
Author(s):
autogenerated on Thu Jun 20 2019 19:51:32