iLab Neuromorphic Robotics Toolkit  0.1
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RandomRemovalFilter.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
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27  // PURPOSE. See the GNU General Public License for more details. //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_FILTER_RANDOMREMOVALFILTER_H
37 #define INCLUDE_NRT_POINTCLOUD2_FILTER_RANDOMREMOVALFILTER_H
38 
40 
41 namespace nrt
42 {
43  //! A filter that removes points from a point cloud
44  /*! This filter is designed to remove randomly some percentage of all points
45  in a point cloud. It is a fast way to reduce the number of elements in a cloud.
46 
47  @ingroup pointcloud2filters */
49  {
50  public:
51  //! Create a random removal filter to remove some percentage of points
52  RandomRemovalFilter( double removalPercentage );
53 
54  //! Filters the input point cloud
55  /*! @param input The input point cloud
56  @return The filtered output */
57  virtual PointCloud2 filter( PointCloud2 const input );
58 
59  //! Filters a subset of the input point cloud
60  /*! @param input The input point cloud
61  @param indices The subset to filter. Filter removal percentage will count against the size of this.
62  @return The filtered output */
63  virtual PointCloud2 filter( PointCloud2 const input, Indices const indices );
64 
65  private:
66  double itsRemovalPercentage;
67  }; //class RandomRemovalFilter
68 } //namespace nrt
69 
70 #endif //INCLUDE_NRT_POINTCLOUD2_FILTER_RANDOMREMOVALFILTER_H
71 #endif //NRT_HAVE_CLOUD