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

#include <pcl/filters/random_sample.h>

Inheritance diagram for pcl::RandomSample< pcl::PCLPointCloud2 >:

Collaboration diagram for pcl::RandomSample< pcl::PCLPointCloud2 >:

Public Types
using	Ptr = shared_ptr<RandomSample<pcl::PCLPointCloud2> >

using	ConstPtr = shared_ptr<const RandomSample<pcl::PCLPointCloud2> >

using	Ptr

using	ConstPtr

Public Types inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PointCloud

using	Ptr

using	ConstPtr

Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
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

using	Ptr

using	ConstPtr

using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr

using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

using	PointIndicesPtr

using	PointIndicesConstPtr

Public Member Functions
	RandomSample ()
	Empty constructor.

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

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

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

unsigned int	getSeed ()
	Get the value of the internal seed parameter.

	RandomSample (bool extract_removed_indices=false)
	Empty constructor.

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

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

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

unsigned int	getSeed ()
	Get the value of the internal seed parameter.

Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
	FilterIndices (bool extract_removed_indices=false)
	Constructor.

void	filter (Indices &indices)
	Calls the filtering method and returns the filtered point cloud indices.

void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions.

bool	getNegative () const
	Get whether the regular conditions for points filtering should apply, or the inverted conditions.

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.

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.

void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them.

	FilterIndices (bool extract_removed_indices=false)
	Constructor.

void	filter (Indices &indices)
	Calls the filtering method and returns the filtered point cloud indices.

void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions.

bool	getNegative () const
	Get whether the regular conditions for points filtering should apply, or the inverted conditions.

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.

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.

void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them.

Public Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
	Filter (bool extract_removed_indices=false)
	Empty constructor.

IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.

void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.

void	filter (PCLPointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.

	Filter (bool extract_removed_indices=false)
	Empty constructor.

IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.

void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.

void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.

Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
	PCLBase ()
	Empty constructor.

virtual	~PCLBase ()=default
	destructor.

void	setInputCloud (const PCLPointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.

PCLPointCloud2ConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

IndicesPtr const	getIndices () const
	Get a pointer to the vector of indices used.

	PCLBase ()
	Empty constructor.

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

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.

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.

const pcl::PCLPointCloud2 &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	applyFilter (PCLPointCloud2 &output) override
	Sample of point indices into a separate PointCloud.

void	applyFilter (Indices &indices) override
	Sample of point indices.

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

void	applyFilter (Indices &indices) override
	Sample of point indices.

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

Protected Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
void	applyFilter (PointCloud &output) override
	Abstract filter method for point cloud.

Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.

virtual void	applyFilter (PointCloud &output)=0
	Abstract filter method.

const std::string &	getClassName () const
	Get a string representation of the name of this class.

Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool	initCompute ()

bool	deinitCompute ()

bool	initCompute ()
	This method should get called before starting the actual computation.

bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
unsigned int	sample_
	Number of indices that will be returned.

unsigned int	seed_
	Random number seed.

unsigned int	sample_
	Number of indices that will be returned.

unsigned int	seed_
	Random number seed.

Protected Attributes inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
bool	negative_ {false}
	False = normal filter behavior (default), true = inverted behavior.

bool	keep_organized_ {false}
	False = remove points (default), true = redefine points, keep structure.

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

bool	negative_
	False = normal filter behavior (default), true = inverted behavior.

bool	keep_organized_
	False = remove points (default), true = redefine points, keep structure.

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr	removed_indices_
	Indices of the points that are removed.

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.

std::string	filter_name_
	The filter name.

IndicesPtr	removed_indices_
	Indices of the points that are removed.

std::string	filter_name_
	The filter name.

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.

Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

std::vector< uindex_t >	field_sizes_
	The size of each individual field.

index_t	x_idx_
	The x-y-z fields indices.

index_t	y_idx_

index_t	z_idx_

std::string	x_field_name_
	The desired x-y-z field names.

std::string	y_field_name_

std::string	z_field_name_

PointCloudConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

RandomSample applies a random sampling with uniform probability.

Author: Justin Rosen

Definition at line 148 of file random_sample.h.

Member Typedef Documentation

◆ ConstPtr [1/2]

using pcl::RandomSample< pcl::PCLPointCloud2 >::ConstPtr

Definition at line 74 of file random_sample.h.

◆ ConstPtr [2/2]

using pcl::RandomSample< pcl::PCLPointCloud2 >::ConstPtr = shared_ptr<const RandomSample<pcl::PCLPointCloud2> >

Definition at line 160 of file random_sample.h.

◆ Ptr [1/2]

using pcl::RandomSample< pcl::PCLPointCloud2 >::Ptr

Definition at line 73 of file random_sample.h.

◆ Ptr [2/2]

using pcl::RandomSample< pcl::PCLPointCloud2 >::Ptr = shared_ptr<RandomSample<pcl::PCLPointCloud2> >

Definition at line 159 of file random_sample.h.

Constructor & Destructor Documentation

◆ RandomSample() [1/2]

pcl::RandomSample< pcl::PCLPointCloud2 >::RandomSample ( )

inline

Empty constructor.

Definition at line 163 of file random_sample.h.

References pcl::Filter< pcl::PCLPointCloud2 >::filter_name_, sample_, and seed_.

◆ RandomSample() [2/2]

pcl::RandomSample< pcl::PCLPointCloud2 >::RandomSample ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 77 of file random_sample.h.

Member Function Documentation

◆ applyFilter() [1/3]

void pcl::RandomSample< pcl::PCLPointCloud2 >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Sample of point indices.

Parameters

indices the resultant point cloud indices

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

Definition at line 130 of file random_sample.hpp.

◆ applyFilter() [2/3]

void pcl::RandomSample< pcl::PCLPointCloud2 >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Sample of point indices.

Parameters

indices the resultant point cloud indices

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ applyFilter() [3/3]

void pcl::RandomSample< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 & output )

overrideprotectedvirtual

Sample of point indices into a separate PointCloud.

Parameters

output the resultant point cloud

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ getSample() [1/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::getSample ( )

inline

Get the value of the internal sample parameter.

Definition at line 97 of file random_sample.h.

◆ getSample() [2/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::getSample ( )

inline

Get the value of the internal sample parameter.

Definition at line 182 of file random_sample.h.

References sample_.

◆ getSeed() [1/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::getSeed ( )

inline

Get the value of the internal seed parameter.

Definition at line 114 of file random_sample.h.

◆ getSeed() [2/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::getSeed ( )

inline

Get the value of the internal seed parameter.

Definition at line 199 of file random_sample.h.

References seed_.

◆ setSample() [1/2]

void pcl::RandomSample< pcl::PCLPointCloud2 >::setSample ( unsigned int sample )

inline

Set number of indices to be sampled.

Parameters

sample

Definition at line 89 of file random_sample.h.

◆ setSample() [2/2]

void pcl::RandomSample< pcl::PCLPointCloud2 >::setSample ( unsigned int sample )

inline

Set number of indices to be sampled.

Parameters

sample

Definition at line 174 of file random_sample.h.

References sample_.

◆ setSeed() [1/2]

void pcl::RandomSample< pcl::PCLPointCloud2 >::setSeed ( unsigned int seed )

inline

Set seed of random function.

Parameters

seed

Definition at line 106 of file random_sample.h.

◆ setSeed() [2/2]

void pcl::RandomSample< pcl::PCLPointCloud2 >::setSeed ( unsigned int seed )

inline

Set seed of random function.

Parameters

seed

Definition at line 191 of file random_sample.h.

References seed_.

◆ unifRand() [1/2]

float pcl::RandomSample< pcl::PCLPointCloud2 >::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.

◆ unifRand() [2/2]

float pcl::RandomSample< pcl::PCLPointCloud2 >::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 227 of file random_sample.h.

Member Data Documentation

◆ sample_ [1/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::sample_

protected

Number of indices that will be returned.

Definition at line 122 of file random_sample.h.

◆ sample_ [2/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::sample_

protected

Number of indices that will be returned.

Definition at line 207 of file random_sample.h.

Referenced by getSample(), RandomSample(), and setSample().

◆ seed_ [1/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::seed_

protected

Random number seed.

Definition at line 124 of file random_sample.h.

◆ seed_ [2/2]

unsigned int pcl::RandomSample< pcl::PCLPointCloud2 >::seed_

protected

Random number seed.

Definition at line 209 of file random_sample.h.

Referenced by getSeed(), RandomSample(), and 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

Member Typedef Documentation

◆ ConstPtr [1/2]

◆ ConstPtr [2/2]

◆ Ptr [1/2]

◆ Ptr [2/2]

Constructor & Destructor Documentation

◆ RandomSample() [1/2]

◆ RandomSample() [2/2]

Member Function Documentation

◆ applyFilter() [1/3]

◆ applyFilter() [2/3]

◆ applyFilter() [3/3]

◆ getSample() [1/2]

◆ getSample() [2/2]

◆ getSeed() [1/2]

◆ getSeed() [2/2]

◆ setSample() [1/2]

◆ setSample() [2/2]

◆ setSeed() [1/2]

◆ setSeed() [2/2]

◆ unifRand() [1/2]

◆ unifRand() [2/2]

Member Data Documentation

◆ sample_ [1/2]

◆ sample_ [2/2]

◆ seed_ [1/2]

◆ seed_ [2/2]