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...

void	setNumberOfThreads (unsigned int num_threads)
	Set the number of threads to use when operating in parallel. More...

unsigned int	getNumberOfThreads () const
	Get the value of the internal num_threads_ 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 PointT &	operator[] (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...

unsigned int	num_threads_ {1}
	Number of threads. More...

Protected Attributes inherited from pcl::FilterIndices< PointT >
bool	negative_ {false}
	False = normal filter behavior (default), true = inverted behavior. More...

bool	keep_organized_ {false}
	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

indices indices of the filtered point cloud

Implements pcl::FilterIndices< PointT >.

Definition at line 21 of file farthest_point_sampling.hpp.

References pcl::geometry::distance().

◆ getNumberOfThreads()

template<typename PointT >

unsigned int pcl::FarthestPointSampling< PointT >::getNumberOfThreads ( ) const

inline

Get the value of the internal num_threads_ parameter.

Definition at line 99 of file farthest_point_sampling.h.

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

◆ 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_.

◆ setNumberOfThreads()

template<typename PointT >

void pcl::FarthestPointSampling< PointT >::setNumberOfThreads ( unsigned int num_threads )

inline

Set the number of threads to use when operating in parallel.

Parameters

num_threads the number of threads to use

Definition at line 86 of file farthest_point_sampling.h.

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

◆ setSample()

template<typename PointT >

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

inline

Set number of points to be sampled.

Parameters

sample_size the 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

seed	for 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

◆ num_threads_

template<typename PointT >

unsigned int pcl::FarthestPointSampling< PointT >::num_threads_ {1}

protected

Number of threads.

Definition at line 111 of file farthest_point_sampling.h.

Referenced by pcl::FarthestPointSampling< PointT >::getNumberOfThreads(), and pcl::FarthestPointSampling< PointT >::setNumberOfThreads().

◆ sample_size_

template<typename PointT >

std::size_t pcl::FarthestPointSampling< PointT >::sample_size_

protected

Number of points that will be returned.

Definition at line 107 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

Random number seed.

Definition at line 109 of file farthest_point_sampling.h.

Referenced by pcl::FarthestPointSampling< PointT >::getSeed(), and pcl::FarthestPointSampling< PointT >::setSeed().

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

pcl/filters/farthest_point_sampling.h
pcl/filters/impl/farthest_point_sampling.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ FarthestPointSampling()

Member Function Documentation

◆ applyFilter()

◆ getNumberOfThreads()

◆ getSample()

◆ getSeed()

◆ setNumberOfThreads()

◆ setSample()

◆ setSeed()

Member Data Documentation

◆ num_threads_

◆ sample_size_

◆ seed_

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