random_sample.hpp
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* $Id: extract_indices.hpp 1897 2011-07-26 20:35:49Z rusu $
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#ifndef PCL_FILTERS_IMPL_RANDOM_SAMPLE_H_
#define PCL_FILTERS_IMPL_RANDOM_SAMPLE_H_
#include <pcl/filters/random_sample.h>
#include <pcl/common/io.h>
#include <pcl/point_traits.h>
///////////////////////////////////////////////////////////////////////////////
template<typename PointT> void
pcl::RandomSample<PointT>::applyFilter (PointCloud &output)
{
std::vector<int> indices;
if (keep_organized_)
{
bool temp = extract_removed_indices_;
extract_removed_indices_ = true;
applyFilter (indices);
extract_removed_indices_ = temp;
copyPointCloud (*input_, output);
// Get X, Y, Z fields
std::vector<pcl::PCLPointField> fields;
pcl::getFields (*input_, fields);
std::vector<size_t> offsets;
for (size_t i = 0; i < fields.size (); ++i)
{
if (fields[i].name == "x" ||
fields[i].name == "y" ||
fields[i].name == "z")
offsets.push_back (fields[i].offset);
}
// For every "removed" point, set the x,y,z fields to user_filter_value_
const static float user_filter_value = user_filter_value_;
for (size_t rii = 0; rii < removed_indices_->size (); ++rii)
{
uint8_t* pt_data = reinterpret_cast<uint8_t*> (&output[(*removed_indices_)[rii]]);
for (size_t i = 0; i < offsets.size (); ++i)
{
memcpy (pt_data + offsets[i], &user_filter_value, sizeof (float));
}
if (!pcl_isfinite (user_filter_value_))
output.is_dense = false;
}
}
else
{
output.is_dense = true;
applyFilter (indices);
copyPointCloud (*input_, indices, output);
}
}
///////////////////////////////////////////////////////////////////////////////
template<typename PointT>
void
pcl::RandomSample<PointT>::applyFilter (std::vector<int> &indices)
{
unsigned N = static_cast<unsigned> (indices_->size ());
unsigned int sample_size = negative_ ? N - sample_ : sample_;
// If sample size is 0 or if the sample size is greater then input cloud size
// then return all indices
if (sample_size >= N)
{
indices = *indices_;
removed_indices_->clear ();
}
else
{
// Resize output indices to sample size
indices.resize (static_cast<size_t> (sample_size));
if (extract_removed_indices_)
removed_indices_->resize (static_cast<size_t> (N - sample_size));
// Set random seed so derived indices are the same each time the filter runs
std::srand (seed_);
// Algorithm A
unsigned top = N - sample_size;
unsigned i = 0;
unsigned index = 0;
std::vector<bool> added;
if (extract_removed_indices_)
added.resize (indices_->size (), false);
for (size_t n = sample_size; n >= 2; n--)
{
float V = unifRand ();
unsigned S = 0;
float quot = static_cast<float> (top) / static_cast<float> (N);
while (quot > V)
{
S++;
top--;
N--;
quot = quot * static_cast<float> (top) / static_cast<float> (N);
}
index += S;
if (extract_removed_indices_)
added[index] = true;
indices[i++] = (*indices_)[index++];
N--;
}
index += N * static_cast<unsigned> (unifRand ());
if (extract_removed_indices_)
added[index] = true;
indices[i++] = (*indices_)[index++];
// Now populate removed_indices_ appropriately
if (extract_removed_indices_)
{
unsigned ri = 0;
for (size_t i = 0; i < added.size (); i++)
{
if (!added[i])
{
(*removed_indices_)[ri++] = (*indices_)[i];
}
}
}
}
}
#define PCL_INSTANTIATE_RandomSample(T) template class PCL_EXPORTS pcl::RandomSample<T>;
#endif // PCL_FILTERS_IMPL_RANDOM_SAMPLE_H_
pcl::copyPointCloud
PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &cloud_in, const std::vector< int > &indices, pcl::PCLPointCloud2 &cloud_out)
Extract the indices of a given point cloud as a new point cloud.
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::PointCloud::is_dense
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values).
Definition: point_cloud.h:418
pcl::RandomSample::applyFilter
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
Definition: random_sample.hpp:48
pcl::getFields
void getFields(const pcl::PointCloud< PointT > &cloud, std::vector< pcl::PCLPointField > &fields)
Get the list of available fields (i.e., dimension/channel)
Definition: io.hpp:79