MaxPointCount.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.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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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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*/
#pragma once
 
#include "PointMatcher.h"
 
template<typename T>
struct MaxPointCountDataPointsFilter: 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 "Conditional subsampling. This filter reduces the size of the point cloud by randomly dropping points if their number is above maxCount. Based on \\cite{Masuda1996Random}";
        }
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"seed",     "srand seed",               "1",    "0", "2147483647", &P::Comp<size_t>},
                        {"maxCount", "maximum number of points", "1000", "0", "2147483647", &P::Comp<size_t>}
                }
                ;
        }
 
        const size_t maxCount;
        size_t seed;
 
        MaxPointCountDataPointsFilter(const Parameters& params = Parameters());
        virtual ~MaxPointCountDataPointsFilter() {};
        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);
};