normal_space.h

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#ifndef PCL_FILTERS_NORMAL_SUBSAMPLE_H_
#define PCL_FILTERS_NORMAL_SUBSAMPLE_H_

#include <pcl/filters/filter_indices.h>
#include <time.h>
#include <limits.h>

#include <boost/dynamic_bitset.hpp>

namespace pcl
{
  template<typename PointT, typename NormalT>
  class NormalSpaceSampling : public FilterIndices<PointT>
  {
    using FilterIndices<PointT>::filter_name_;
    using FilterIndices<PointT>::getClassName;
    using FilterIndices<PointT>::indices_;
    using FilterIndices<PointT>::input_;

    typedef typename FilterIndices<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;
    typedef typename pcl::PointCloud<NormalT>::Ptr NormalsPtr;

    public:
      NormalSpaceSampling () : 
        sample_ (UINT_MAX), seed_ (static_cast<unsigned int> (time (NULL))), binsx_ (), binsy_ (), binsz_ (), input_normals_ ()
      {
        filter_name_ = "NormalSpaceSampling";
      }

      inline void
      setSample (unsigned int sample)
      {
        sample_ = sample;
      }

      inline unsigned int
      getSample () const
      {
        return (sample_);
      }

      inline void
      setSeed (unsigned int seed)
      {
        seed_ = seed;
      }

      inline unsigned int
      getSeed () const
      {
        return (seed_);
      }

      inline void 
      setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
      {
        binsx_ = binsx;
        binsy_ = binsy;
        binsz_ = binsz;
      }

      inline void 
      getBins (unsigned int& binsx, unsigned int& binsy, unsigned int& binsz) const
      {
        binsx = binsx_;
        binsy = binsy_;
        binsz = binsz_;
      }

      inline void 
      setNormals (const NormalsPtr &normals) { input_normals_ = normals; }

      inline NormalsPtr
      getNormals () const { return (input_normals_); }

    protected:
      unsigned int sample_;
      unsigned int seed_;

      unsigned int binsx_;
      unsigned int binsy_;
      unsigned int binsz_;
     
      NormalsPtr input_normals_; 

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices);

    private:
      unsigned int 
      findBin (float *normal, unsigned int nbins);

      bool
      isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length);

  };
}
#endif  //#ifndef PCL_FILTERS_NORMAL_SPACE_SUBSAMPLE_H_