Point Cloud Library (PCL)  1.12.1-dev
random_sample.h
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34  * $Id: extract_indices.h 1370 2011-06-19 01:06:01Z jspricke $
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37 
38 #pragma once
39 
40 #include <pcl/filters/filter_indices.h>
41 #include <ctime>
42 #include <limits>
43 
44 namespace pcl
45 {
46  /** \brief @b RandomSample applies a random sampling with uniform probability.
47  * Based off Algorithm A from the paper "Faster Methods for Random Sampling"
48  * by Jeffrey Scott Vitter. The algorithm runs in O(N) and results in sorted
49  * indices
50  * http://www.ittc.ku.edu/~jsv/Papers/Vit84.sampling.pdf
51  * \author Justin Rosen
52  * \ingroup filters
53  */
54  template<typename PointT>
55  class RandomSample : public FilterIndices<PointT>
56  {
66 
68  using PointCloudPtr = typename PointCloud::Ptr;
70 
71  public:
72 
73  using Ptr = shared_ptr<RandomSample<PointT> >;
74  using ConstPtr = shared_ptr<const RandomSample<PointT> >;
75 
76  /** \brief Empty constructor. */
77  RandomSample (bool extract_removed_indices = false) :
78  FilterIndices<PointT> (extract_removed_indices),
79  sample_ (std::numeric_limits<unsigned int>::max()),
80  seed_ (static_cast<unsigned int> (time (nullptr)))
81  {
82  filter_name_ = "RandomSample";
83  }
84 
85  /** \brief Set number of indices to be sampled.
86  * \param sample
87  */
88  inline void
89  setSample (unsigned int sample)
90  {
91  sample_ = sample;
92  }
93 
94  /** \brief Get the value of the internal \a sample parameter.
95  */
96  inline unsigned int
98  {
99  return (sample_);
100  }
101 
102  /** \brief Set seed of random function.
103  * \param seed
104  */
105  inline void
106  setSeed (unsigned int seed)
107  {
108  seed_ = seed;
109  }
110 
111  /** \brief Get the value of the internal \a seed parameter.
112  */
113  inline unsigned int
115  {
116  return (seed_);
117  }
118 
119  protected:
120 
121  /** \brief Number of indices that will be returned. */
122  unsigned int sample_;
123  /** \brief Random number seed. */
124  unsigned int seed_;
125 
126  /** \brief Sample of point indices
127  * \param indices the resultant point cloud indices
128  */
129  void
130  applyFilter (Indices &indices) override;
131 
132  /** \brief Return a random number fast using a LCG (Linear Congruential Generator) algorithm.
133  * See http://software.intel.com/en-us/articles/fast-random-number-generator-on-the-intel-pentiumr-4-processor/ for more information.
134  */
135  inline float
137  {
138  return (static_cast<float>(rand () / double (RAND_MAX)));
139  //return (((214013 * seed_ + 2531011) >> 16) & 0x7FFF);
140  }
141  };
142 
143  /** \brief @b RandomSample applies a random sampling with uniform probability.
144  * \author Justin Rosen
145  * \ingroup filters
146  */
147  template<>
148  class PCL_EXPORTS RandomSample<pcl::PCLPointCloud2> : public FilterIndices<pcl::PCLPointCloud2>
149  {
152 
156 
157  public:
158 
159  using Ptr = shared_ptr<RandomSample<pcl::PCLPointCloud2> >;
160  using ConstPtr = shared_ptr<const RandomSample<pcl::PCLPointCloud2> >;
161 
162  /** \brief Empty constructor. */
164  sample_ (std::numeric_limits<unsigned int>::max()),
165  seed_ (static_cast<unsigned int>(time(nullptr)))
166  {
167  filter_name_ = "RandomSample";
168  }
169 
170  /** \brief Set number of indices to be sampled.
171  * \param sample
172  */
173  inline void
174  setSample (unsigned int sample)
175  {
176  sample_ = sample;
177  }
178 
179  /** \brief Get the value of the internal \a sample parameter.
180  */
181  inline unsigned int
183  {
184  return (sample_);
185  }
186 
187  /** \brief Set seed of random function.
188  * \param seed
189  */
190  inline void
191  setSeed (unsigned int seed)
192  {
193  seed_ = seed;
194  }
195 
196  /** \brief Get the value of the internal \a seed parameter.
197  */
198  inline unsigned int
200  {
201  return (seed_);
202  }
203 
204  protected:
205 
206  /** \brief Number of indices that will be returned. */
207  unsigned int sample_;
208  /** \brief Random number seed. */
209  unsigned int seed_;
210 
211  /** \brief Sample of point indices into a separate PointCloud
212  * \param output the resultant point cloud
213  */
214  void
215  applyFilter (PCLPointCloud2 &output) override;
216 
217  /** \brief Sample of point indices
218  * \param indices the resultant point cloud indices
219  */
220  void
221  applyFilter (Indices &indices) override;
222 
223  /** \brief Return a random number fast using a LCG (Linear Congruential Generator) algorithm.
224  * See http://software.intel.com/en-us/articles/fast-random-number-generator-on-the-intel-pentiumr-4-processor/ for more information.
225  */
226  inline float
228  {
229  return (static_cast<float> (rand () / double (RAND_MAX)));
230  }
231  };
232 }
233 
234 #ifdef PCL_NO_PRECOMPILE
235 #include <pcl/filters/impl/random_sample.hpp>
236 #endif
shared_ptr< const Filter< pcl::PCLPointCloud2 > > ConstPtr
Definition: filter.h:190
shared_ptr< Filter< pcl::PCLPointCloud2 > > Ptr
Definition: filter.h:189
shared_ptr< Filter< PointT > > Ptr
Definition: filter.h:83
shared_ptr< const Filter< PointT > > ConstPtr
Definition: filter.h:84
std::string filter_name_
The filter name.
Definition: filter.h:158
FilterIndices represents the base class for filters that are about binary point removal.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
Definition: pcl_base.h:185
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
Definition: pcl_base.h:186
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
unsigned int seed_
Random number seed.
void applyFilter(PCLPointCloud2 &output) override
Sample of point indices into a separate PointCloud.
unsigned int sample_
Number of indices that will be returned.
unsigned int getSample()
Get the value of the internal sample parameter.
void setSeed(unsigned int seed)
Set seed of random function.
void setSample(unsigned int sample)
Set number of indices to be sampled.
void applyFilter(Indices &indices) override
Sample of point indices.
float unifRand()
Return a random number fast using a LCG (Linear Congruential Generator) algorithm.
unsigned int getSeed()
Get the value of the internal seed parameter.
RandomSample applies a random sampling with uniform probability.
Definition: random_sample.h:56
void setSeed(unsigned int seed)
Set seed of random function.
float unifRand()
Return a random number fast using a LCG (Linear Congruential Generator) algorithm.
void applyFilter(Indices &indices) override
Sample of point indices.
void setSample(unsigned int sample)
Set number of indices to be sampled.
Definition: random_sample.h:89
unsigned int getSample()
Get the value of the internal sample parameter.
Definition: random_sample.h:97
unsigned int sample_
Number of indices that will be returned.
unsigned int getSeed()
Get the value of the internal seed parameter.
unsigned int seed_
Random number seed.
RandomSample(bool extract_removed_indices=false)
Empty constructor.
Definition: random_sample.h:77
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
#define PCL_EXPORTS
Definition: pcl_macros.h:323
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.