RandomSample applies a random sampling with uniform probability. More...

#include <pcl/filters/random_sample.h>

Inheritance diagram for pcl::RandomSample< PointT >:

Collaboration diagram for pcl::RandomSample< PointT >:

Public Types
using	Ptr = shared_ptr< RandomSample< PointT > >

using	ConstPtr = shared_ptr< const RandomSample< PointT > >

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

Public Member Functions
	RandomSample (bool extract_removed_indices=false)
	Empty constructor. More...

void	setSample (unsigned int sample)
	Set number of indices to be sampled. More...

unsigned int	getSample ()
	Get the value of the internal sample parameter. More...

void	setSeed (unsigned int seed)
	Set seed of random function. More...

unsigned int	getSeed ()
	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 PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	applyFilter (Indices &indices) override
	Sample of point indices. More...

float	unifRand ()
	Return a random number fast using a LCG (Linear Congruential Generator) algorithm. 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
unsigned int	sample_
	Number of indices that will be returned. More...

unsigned int	seed_
	Random number seed. 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...

Detailed Description

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

RandomSample applies a random sampling with uniform probability.

Based off Algorithm A from the paper "Faster Methods for Random Sampling" by Jeffrey Scott Vitter. The algorithm runs in O(N) and results in sorted indices http://www.ittc.ku.edu/~jsv/Papers/Vit84.sampling.pdf

Author: Justin Rosen

Definition at line 55 of file random_sample.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::RandomSample< PointT >::ConstPtr = shared_ptr<const RandomSample<PointT> >

Definition at line 74 of file random_sample.h.

◆ Ptr

template<typename PointT >

using pcl::RandomSample< PointT >::Ptr = shared_ptr<RandomSample<PointT> >

Definition at line 73 of file random_sample.h.

Constructor & Destructor Documentation

◆ RandomSample()

template<typename PointT >

pcl::RandomSample< PointT >::RandomSample ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 77 of file random_sample.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::RandomSample< PointT >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Sample of point indices.

Parameters

indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 47 of file random_sample.hpp.

◆ getSample()

template<typename PointT >

unsigned int pcl::RandomSample< PointT >::getSample ( )

inline

Get the value of the internal sample parameter.

Definition at line 97 of file random_sample.h.

References pcl::RandomSample< PointT >::sample_.

◆ getSeed()

template<typename PointT >

unsigned int pcl::RandomSample< PointT >::getSeed ( )

inline

Get the value of the internal seed parameter.

Definition at line 114 of file random_sample.h.

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

◆ setSample()

template<typename PointT >

void pcl::RandomSample< PointT >::setSample ( unsigned int sample )

inline

Set number of indices to be sampled.

Parameters

sample

Definition at line 89 of file random_sample.h.

References pcl::RandomSample< PointT >::sample_.

Referenced by pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::initCompute(), and pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::initCompute().

◆ setSeed()

template<typename PointT >

void pcl::RandomSample< PointT >::setSeed ( unsigned int seed )

inline

Set seed of random function.

Parameters

seed

Definition at line 106 of file random_sample.h.

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

Referenced by pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::initCompute().

◆ unifRand()

template<typename PointT >

float pcl::RandomSample< PointT >::unifRand ( )

inlineprotected

Return a random number fast using a LCG (Linear Congruential Generator) algorithm.

See http://software.intel.com/en-us/articles/fast-random-number-generator-on-the-intel-pentiumr-4-processor/ for more information.

Definition at line 136 of file random_sample.h.

Member Data Documentation

◆ sample_

template<typename PointT >

unsigned int pcl::RandomSample< PointT >::sample_

protected

Number of indices that will be returned.

Definition at line 122 of file random_sample.h.

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

◆ seed_

template<typename PointT >

unsigned int pcl::RandomSample< PointT >::seed_

protected

Random number seed.

Definition at line 124 of file random_sample.h.

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

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

pcl/filters/random_sample.h
pcl/filters/impl/random_sample.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ RandomSample()

Member Function Documentation

◆ applyFilter()

◆ getSample()

◆ getSeed()

◆ setSample()

◆ setSeed()

◆ unifRand()

Member Data Documentation

◆ sample_

◆ seed_

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