RandomSampling.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"
 
#include <string>
 
template<typename T>
struct RandomSamplingDataPointsFilter: 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;
        
        inline static const std::string description()
        {
                return "Subsampling. This filter reduces the size of the point cloud by randomly dropping points. Based on \\cite{Masuda1996Random}";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"prob", "Probability to keep a point, one over decimation factor ", "0.75", "0", "1", &P::Comp<T>},
                        {"randomSamplingMethod", "Random sampling method: Direct RNG (0) (fastest), Uniform (1) (more accurate but slower)", "0", "0", "1", &P::Comp<int>},
                        {"seed", "Seed for random sampling (-1 means no seed is used)", "-1", "-1", "2147483647", &P::Comp<int>}
                };
        }
        
        const double prob;
        const int randomSamplingMethod;
        const int seed;
 
        RandomSamplingDataPointsFilter(const Parameters& params = Parameters());
        virtual ~RandomSamplingDataPointsFilter() {};
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
        Eigen::VectorXf sampleRandomIndices(const size_t nbPoints);
};