random_sample.h

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/*
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 * $Id: random_sample.h 5026 2012-03-12 02:51:44Z rusu $
 *
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#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
#define PCL_FILTERS_RANDOM_SUBSAMPLE_H_

#include <pcl/filters/filter_indices.h>
#include <time.h>
#include <limits.h>

namespace pcl
{
  template<typename PointT>
  class RandomSample : public FilterIndices<PointT>
  {
    using FilterIndices<PointT>::filter_name_;
    using FilterIndices<PointT>::getClassName;
    using FilterIndices<PointT>::indices_;
    using FilterIndices<PointT>::input_;

    typedef typename FilterIndices<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:
      RandomSample () : sample_ (UINT_MAX), seed_ (static_cast<unsigned int> (time (NULL)))
      {
        filter_name_ = "RandomSample";
      }

      inline void
      setSample (unsigned int sample)
      {
        sample_ = sample;
      }

      inline unsigned int
      getSample ()
      {
        return (sample_);
      }

      inline void
      setSeed (unsigned int seed)
      {
        seed_ = seed;
      }

      inline unsigned int
      getSeed ()
      {
        return (seed_);
      }

    protected:

      unsigned int sample_;
      unsigned int seed_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices);

      inline float
      unifRand ()
      {
        return (static_cast<float>(rand () / double (RAND_MAX)));
        //return (((214013 * seed_ + 2531011) >> 16) & 0x7FFF);
      }
  };

  template<>
  class PCL_EXPORTS RandomSample<sensor_msgs::PointCloud2> : public FilterIndices<sensor_msgs::PointCloud2>
  {
    using FilterIndices<sensor_msgs::PointCloud2>::filter_name_;
    using FilterIndices<sensor_msgs::PointCloud2>::getClassName;

    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    public:
      RandomSample () : sample_ (UINT_MAX), seed_ (static_cast<unsigned int> (time (NULL)))
      {
        filter_name_ = "RandomSample";
      }

      inline void
      setSample (unsigned int sample)
      {
        sample_ = sample;
      }

      inline unsigned int
      getSample ()
      {
        return (sample_);
      }

      inline void
      setSeed (unsigned int seed)
      {
        seed_ = seed;
      }

      inline unsigned int
      getSeed ()
      {
        return (seed_);
      }

    protected:

      unsigned int sample_;
      unsigned int seed_;

      void
      applyFilter (PointCloud2 &output);

      void
      applyFilter (std::vector<int> &indices);

      inline float
      unifRand ()
      {
        return (static_cast<float> (rand () / double (RAND_MAX)));
        //return (((214013 * seed_ + 2531011) >> 16) & 0x7FFF);
      }
   };
}

#endif  //#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_