Point Cloud Library (PCL)
1.7.2
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RandomSample applies a random sampling with uniform probability. More...
#include <pcl/filters/random_sample.h>
Public Types | |
typedef boost::shared_ptr< RandomSample< PointT > > | Ptr |
typedef boost::shared_ptr< const RandomSample< PointT > > | ConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef boost::shared_ptr< FilterIndices< PointT > > | Ptr |
typedef boost::shared_ptr< const FilterIndices< PointT > > | ConstPtr |
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typedef boost::shared_ptr< Filter< PointT > > | Ptr |
typedef boost::shared_ptr< const Filter< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
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... | |
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FilterIndices (bool extract_removed_indices=false) | |
Constructor. More... | |
virtual | ~FilterIndices () |
Empty virtual destructor. More... | |
void | filter (PointCloud &output) |
void | filter (std::vector< int > &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 () |
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 () |
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... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () |
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... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | 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[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Sample of point indices into a separate PointCloud. More... | |
void | applyFilter (std::vector< int > &indices) |
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 () |
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... | |
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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... | |
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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... | |
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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... | |
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
Definition at line 56 of file random_sample.h.
typedef boost::shared_ptr< const RandomSample<PointT> > pcl::RandomSample< PointT >::ConstPtr |
Definition at line 75 of file random_sample.h.
typedef boost::shared_ptr< RandomSample<PointT> > pcl::RandomSample< PointT >::Ptr |
Definition at line 74 of file random_sample.h.
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Empty constructor.
Definition at line 78 of file random_sample.h.
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protectedvirtual |
Sample of point indices into a separate PointCloud.
output | the resultant point cloud |
Implements pcl::FilterIndices< PointT >.
Definition at line 48 of file random_sample.hpp.
References pcl::copyPointCloud(), pcl::getFields(), and pcl::PointCloud< PointT >::is_dense.
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protectedvirtual |
Sample of point indices.
indices | the resultant point cloud indices |
Implements pcl::FilterIndices< PointT >.
Definition at line 93 of file random_sample.hpp.
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inline |
Get the value of the internal sample parameter.
Definition at line 98 of file random_sample.h.
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Get the value of the internal seed parameter.
Definition at line 115 of file random_sample.h.
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inline |
Set number of indices to be sampled.
sample |
Definition at line 90 of file random_sample.h.
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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 143 of file random_sample.h.
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protected |
Number of indices that will be returned.
Definition at line 123 of file random_sample.h.
Referenced by pcl::RandomSample< pcl::pcl::PCLPointCloud2 >::getSample(), pcl::RandomSample< pcl::PCLPointCloud2 >::getSample(), pcl::RandomSample< pcl::pcl::PCLPointCloud2 >::setSample(), and pcl::RandomSample< pcl::PCLPointCloud2 >::setSample().
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Random number seed.
Definition at line 125 of file random_sample.h.
Referenced by pcl::RandomSample< pcl::pcl::PCLPointCloud2 >::getSeed(), pcl::RandomSample< pcl::PCLPointCloud2 >::getSeed(), pcl::RandomSample< pcl::pcl::PCLPointCloud2 >::setSeed(), and pcl::RandomSample< pcl::PCLPointCloud2 >::setSeed().