Point Cloud Library (PCL)  1.12.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::FarthestPointSampling< PointT > Class Template Reference

FarthestPointSampling applies farthest point sampling using euclidean distance, starting with a random point, utilizing a naive method. More...

#include <pcl/filters/farthest_point_sampling.h>

+ Inheritance diagram for pcl::FarthestPointSampling< PointT >:
+ Collaboration diagram for pcl::FarthestPointSampling< PointT >:

Public Member Functions

 FarthestPointSampling (bool extract_removed_indices=false)
 Empty constructor. More...
 
void setSample (std::size_t sample_size)
 Set number of points to be sampled. More...
 
std::size_t getSample () const
 Get the value of the internal sample_size parameter. More...
 
void setSeed (unsigned int seed)
 Set seed of random function. More...
 
unsigned int getSeed () const
 Get the value of the internal seed_ parameter. More...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
void filter (Indices &indices)
 Calls the filtering method and returns the filtered point cloud indices. More...
 
void setNegative (bool negative)
 Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...
 
bool getNegative () const
 Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...
 
void setKeepOrganized (bool keep_organized)
 Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...
 
bool getKeepOrganized () const
 Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...
 
void setUserFilterValue (float value)
 Provide a value that the filtered points should be set to instead of removing them. More...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
IndicesConstPtr const getRemovedIndices () const
 Get the point indices being removed. More...
 
void getRemovedIndices (PointIndices &pi)
 Get the point indices being removed. More...
 
void filter (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void applyFilter (pcl::Indices &indices) override
 Sample of point indices. More...
 
- Protected Member Functions inherited from pcl::FilterIndices< PointT >
void applyFilter (PointCloud &output) override
 Abstract filter method for point cloud. More...
 
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

std::size_t sample_size_
 Number of points that will be returned. More...
 
unsigned int seed_
 Random number seed. More...
 
- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
 False = normal filter behavior (default), true = inverted behavior. More...
 
bool keep_organized_
 False = remove points (default), true = redefine points, keep structure. More...
 
float user_filter_value_
 The user given value that the filtered point dimensions should be set to (default = NaN). More...
 
- Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
std::string filter_name_
 The filter name. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Additional Inherited Members

- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using Ptr = shared_ptr< FilterIndices< PointT > >
 
using ConstPtr = shared_ptr< const FilterIndices< PointT > >
 
- Public Types inherited from pcl::Filter< PointT >
using Ptr = shared_ptr< Filter< PointT > >
 
using ConstPtr = shared_ptr< const Filter< PointT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Detailed Description

template<typename PointT>
class pcl::FarthestPointSampling< PointT >

FarthestPointSampling applies farthest point sampling using euclidean distance, starting with a random point, utilizing a naive method.

Author
Haritha Jayasinghe
Todo:
add support to export/import distance metric

Definition at line 26 of file farthest_point_sampling.h.

Constructor & Destructor Documentation

◆ FarthestPointSampling()

template<typename PointT >
pcl::FarthestPointSampling< PointT >::FarthestPointSampling ( bool  extract_removed_indices = false)
inline

Empty constructor.

Definition at line 40 of file farthest_point_sampling.h.

References pcl::Filter< PointT >::filter_name_.

Member Function Documentation

◆ applyFilter()

template<typename PointT >
void pcl::FarthestPointSampling< PointT >::applyFilter ( pcl::Indices indices)
overrideprotectedvirtual

Sample of point indices.

Parameters
indicesindices of the filtered point cloud

Implements pcl::FilterIndices< PointT >.

Definition at line 21 of file farthest_point_sampling.hpp.

References pcl::geometry::distance().

◆ getSample()

template<typename PointT >
std::size_t pcl::FarthestPointSampling< PointT >::getSample ( ) const
inline

Get the value of the internal sample_size parameter.

Definition at line 60 of file farthest_point_sampling.h.

References pcl::FarthestPointSampling< PointT >::sample_size_.

◆ getSeed()

template<typename PointT >
unsigned int pcl::FarthestPointSampling< PointT >::getSeed ( ) const
inline

Get the value of the internal seed_ parameter.

Definition at line 77 of file farthest_point_sampling.h.

References pcl::FarthestPointSampling< PointT >::seed_.

◆ setSample()

template<typename PointT >
void pcl::FarthestPointSampling< PointT >::setSample ( std::size_t  sample_size)
inline

Set number of points to be sampled.

Parameters
sample_sizethe number of points to sample

Definition at line 52 of file farthest_point_sampling.h.

References pcl::FarthestPointSampling< PointT >::sample_size_.

◆ setSeed()

template<typename PointT >
void pcl::FarthestPointSampling< PointT >::setSeed ( unsigned int  seed)
inline

Set seed of random function.

Parameters
seedfor the random number generator, to choose the first sample point

Definition at line 69 of file farthest_point_sampling.h.

References pcl::FarthestPointSampling< PointT >::seed_.

Member Data Documentation

◆ sample_size_

template<typename PointT >
std::size_t pcl::FarthestPointSampling< PointT >::sample_size_
protected

Number of points that will be returned.

Definition at line 85 of file farthest_point_sampling.h.

Referenced by pcl::FarthestPointSampling< PointT >::getSample(), and pcl::FarthestPointSampling< PointT >::setSample().

◆ seed_

template<typename PointT >
unsigned int pcl::FarthestPointSampling< PointT >::seed_
protected

The documentation for this class was generated from the following files: