Point Cloud Library (PCL)
1.14.1-dev
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RandomSample applies a random sampling with uniform probability. More...
#include <pcl/filters/random_sample.h>
Public Types | |
using | Ptr = shared_ptr< RandomSample< pcl::PCLPointCloud2 > > |
using | ConstPtr = shared_ptr< const RandomSample< pcl::PCLPointCloud2 > > |
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using | PCLPointCloud2 = pcl::PCLPointCloud2 |
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using | Ptr = shared_ptr< Filter< pcl::PCLPointCloud2 > > |
using | ConstPtr = shared_ptr< const Filter< pcl::PCLPointCloud2 > > |
using | PCLPointCloud2 = pcl::PCLPointCloud2 |
using | PCLPointCloud2Ptr = PCLPointCloud2::Ptr |
using | PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr |
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using | PCLPointCloud2 = pcl::PCLPointCloud2 |
using | PCLPointCloud2Ptr = PCLPointCloud2::Ptr |
using | PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr |
using | PointIndicesPtr = PointIndices::Ptr |
using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
RandomSample () | |
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... | |
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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... | |
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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 (PCLPointCloud2 &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
virtual | ~PCLBase ()=default |
destructor. More... | |
void | setInputCloud (const PCLPointCloud2ConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PCLPointCloud2ConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
IndicesPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
Protected Member Functions | |
void | applyFilter (PCLPointCloud2 &output) override |
Sample of point indices into a separate PointCloud. More... | |
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... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
bool | deinitCompute () |
Protected Attributes | |
unsigned int | sample_ |
Number of indices that will be returned. More... | |
unsigned int | seed_ |
Random number seed. More... | |
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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... | |
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IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
std::string | filter_name_ |
The filter name. More... | |
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PCLPointCloud2ConstPtr | 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... | |
std::vector< uindex_t > | field_sizes_ |
The size of each individual field. More... | |
index_t | x_idx_ |
The x-y-z fields indices. More... | |
index_t | y_idx_ |
index_t | z_idx_ |
std::string | x_field_name_ |
The desired x-y-z field names. More... | |
std::string | y_field_name_ |
std::string | z_field_name_ |
RandomSample applies a random sampling with uniform probability.
Definition at line 148 of file random_sample.h.
using pcl::RandomSample< pcl::PCLPointCloud2 >::ConstPtr = shared_ptr<const RandomSample<pcl::PCLPointCloud2> > |
Definition at line 160 of file random_sample.h.
using pcl::RandomSample< pcl::PCLPointCloud2 >::Ptr = shared_ptr<RandomSample<pcl::PCLPointCloud2> > |
Definition at line 159 of file random_sample.h.
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inline |
Empty constructor.
Definition at line 163 of file random_sample.h.
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overrideprotectedvirtual |
Sample of point indices.
indices | the resultant point cloud indices |
Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.
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overrideprotectedvirtual |
Sample of point indices into a separate PointCloud.
output | the resultant point cloud |
Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.
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inline |
Get the value of the internal sample parameter.
Definition at line 182 of file random_sample.h.
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inline |
Get the value of the internal seed parameter.
Definition at line 199 of file random_sample.h.
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Set number of indices to be sampled.
sample |
Definition at line 174 of file random_sample.h.
Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud_and_genLOD(), and pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample().
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inline |
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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 227 of file random_sample.h.
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protected |
Number of indices that will be returned.
Definition at line 207 of file random_sample.h.
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protected |
Random number seed.
Definition at line 209 of file random_sample.h.