Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: random_sample.hpp 3029 2011-11-01 04:12:25Z svn $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_RANDOM_SAMPLE_H_ 00039 #define PCL_FILTERS_IMPL_RANDOM_SAMPLE_H_ 00040 00041 #include "pcl/filters/random_sample.h" 00042 00044 template<typename PointT> void 00045 pcl::RandomSample<PointT>::applyFilter (PointCloud &output) 00046 { 00047 // If sample size is 0 or if the sample size is greater then input cloud size 00048 // then return entire copy of cloud 00049 if (sample_ >= input_->size ()) 00050 { 00051 output = *input_; 00052 } 00053 else 00054 { 00055 // Resize output cloud to sample size 00056 output.points.resize (sample_); 00057 output.width = sample_; 00058 output.height = 1; 00059 00060 // Fill output cloud with first sample points from input cloud 00061 for (size_t i = 0; i < output.size (); ++i) 00062 output.points[i] = input_->points[i]; 00063 00064 // Set random seed so derived indices are the same each time the filter runs 00065 std::srand (seed_); 00066 00067 // Iterate over the rest of the points of the input cloud picking a random 00068 // index from the output indices to replace 00069 for (size_t i = output.size (); i < input_->size (); ++i) 00070 { 00071 size_t index = std::rand () % (i + 1); 00072 if (index < output.size ()) 00073 output.points[index] = input_->points[i]; 00074 } 00075 } 00076 } 00077 00079 template<typename PointT> 00080 void 00081 pcl::RandomSample<PointT>::applyFilter (std::vector<int> &indices) 00082 { 00083 // If sample size is 0 or if the sample size is greater then input cloud size 00084 // then return all indices 00085 if (sample_ >= input_->size ()) 00086 { 00087 indices = *indices_; 00088 } 00089 else 00090 { 00091 // Resize output indices to sample size 00092 indices.resize (sample_); 00093 00094 // Fill output indices with first sample indices from input cloud 00095 for (size_t i = 0; i < indices.size (); ++i) 00096 indices[i] = (*indices_)[i]; 00097 00098 // Set random seed so derived indices are the same each time the filter runs 00099 std::srand (seed_); 00100 00101 // Iterate over the rest of the indices of the input cloud picking a random 00102 // index from the output indices to replace 00103 for (size_t i = indices.size (); i < (*indices_).size (); ++i) 00104 { 00105 size_t index = std::rand () % (i + 1); 00106 if (index < indices.size ()) 00107 indices[index] = (*indices_)[i]; 00108 } 00109 } 00110 } 00111 00112 #define PCL_INSTANTIATE_RandomSample(T) template class PCL_EXPORTS pcl::RandomSample<T>; 00113 00114 #endif // PCL_FILTERS_IMPL_RANDOM_SAMPLE_H_