Point Cloud Library (PCL)  1.3.1
random_sample.h
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00001 /*
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00034  * $Id: random_sample.h 3029 2011-11-01 04:12:25Z svn $
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00037 
00038 #ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
00039 #define PCL_FILTERS_RANDOM_SUBSAMPLE_H_
00040 
00041 #include "pcl/filters/filter_indices.h"
00042 #include <time.h>
00043 #include <limits.h>
00044 
00045 namespace pcl
00046 {
00053   template<typename PointT>
00054   class RandomSample : public FilterIndices<PointT>
00055   {
00056     using FilterIndices<PointT>::filter_name_;
00057     using FilterIndices<PointT>::getClassName;
00058     using FilterIndices<PointT>::indices_;
00059     using FilterIndices<PointT>::input_;
00060 
00061     typedef typename FilterIndices<PointT>::PointCloud PointCloud;
00062     typedef typename PointCloud::Ptr PointCloudPtr;
00063     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00064 
00065     public:
00067       RandomSample () : sample_ (UINT_MAX), seed_(time(NULL))
00068       {
00069         filter_name_ = "RandomSample";
00070       }
00071 
00075       inline void
00076       setSample (unsigned int sample)
00077       {
00078         sample_ = sample;
00079       }
00080 
00083       inline unsigned int
00084       getSample ()
00085       {
00086         return (sample_);
00087       }
00088 
00092       inline void
00093       setSeed (unsigned int seed)
00094       {
00095         seed_ = seed;
00096       }
00097 
00100       inline unsigned int
00101       getSeed ()
00102       {
00103         return (seed_);
00104       }
00105 
00107       unsigned int sample_;
00109       unsigned int seed_;
00110 
00111     protected:
00115       void
00116       applyFilter (PointCloud &output);
00117 
00121       void
00122       applyFilter (std::vector<int> &indices);
00123 
00124 
00125   };
00126 
00128 
00132   template<>
00133   class PCL_EXPORTS RandomSample<sensor_msgs::PointCloud2> : public FilterIndices<sensor_msgs::PointCloud2>
00134   {
00135     using FilterIndices<sensor_msgs::PointCloud2>::filter_name_;
00136     using FilterIndices<sensor_msgs::PointCloud2>::getClassName;
00137 
00138     typedef sensor_msgs::PointCloud2 PointCloud2;
00139     typedef PointCloud2::Ptr PointCloud2Ptr;
00140     typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
00141 
00142     public:
00144       RandomSample () : sample_ (UINT_MAX), seed_(time(NULL))
00145       {
00146         filter_name_ = "RandomSample";
00147       }
00148 
00152       inline void
00153       setSample (unsigned int sample)
00154       {
00155         sample_ = sample;
00156       }
00157 
00160       inline unsigned int
00161       getSample ()
00162       {
00163         return (sample_);
00164       }
00165 
00169       inline void
00170       setSeed (unsigned int seed)
00171       {
00172         seed_ = seed;
00173       }
00174 
00177       inline unsigned int
00178       getSeed ()
00179       {
00180         return (seed_);
00181       }
00182 
00183     protected:
00187       void
00188       applyFilter (PointCloud2 &output);
00189 
00193       void
00194       applyFilter (std::vector<int> &indices);
00195 
00197       unsigned int sample_;
00199       unsigned int seed_;
00200   };
00201 }
00202 
00203 #endif  //#ifndef PCL_FILTERS_RANDOM_SUBSAMPLE_H_
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