RandomSample applies a random sampling with uniform probability. More...
#include <pcl/filters/random_sample.h>
Public Types |
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| using | Ptr = shared_ptr< RandomSample< PointT > > |
| using | ConstPtr = shared_ptr< const RandomSample< PointT > > |
 Public Types inherited from pcl::FilterIndices< PointT > |
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| 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 > |
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| 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 > |
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| 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 |
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| RandomSample (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| void | setSample (unsigned int sample) |
| Set number of indices to be sampled. More... |
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| unsigned int | getSample () |
| Get the value of the internal sample parameter. More... |
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| void | setSeed (unsigned int seed) |
| Set seed of random function. More... |
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| unsigned int | getSeed () |
| Get the value of the internal seed parameter. More... |
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| Public Member Functions inherited from pcl::FilterIndices< PointT > |
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| FilterIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices. More... |
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| void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| 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... |
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| 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... |
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| void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them. More... |
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| Public Member Functions inherited from pcl::Filter< PointT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| IndicesConstPtr const | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | applyFilter (Indices &indices) override |
| Sample of point indices. More... |
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| float | unifRand () |
| Return a random number fast using a LCG (Linear Congruential Generator) algorithm. More... |
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| Protected Member Functions inherited from pcl::FilterIndices< PointT > |
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| void | applyFilter (PointCloud &output) override |
| Abstract filter method for point cloud. More... |
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| Protected Member Functions inherited from pcl::Filter< PointT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| unsigned int | sample_ |
| Number of indices that will be returned. More... |
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| unsigned int | seed_ |
| Random number seed. More... |
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| Protected Attributes inherited from pcl::FilterIndices< PointT > |
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| bool | negative_ |
| False = normal filter behavior (default), true = inverted behavior. More... |
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| bool | keep_organized_ |
| False = remove points (default), true = redefine points, keep structure. More... |
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| float | user_filter_value_ |
| The user given value that the filtered point dimensions should be set to (default = NaN). More... |
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| Protected Attributes inherited from pcl::Filter< PointT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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
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 >
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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 >
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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 >
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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 >
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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 >
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inline |
Set number of indices to be sampled.
- Parameters
-
sample
Definition at line 89 of file random_sample.h.
References pcl::RandomSample< PointT >::sample_.
setSeed()
template<typename PointT >
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inline |
Set seed of random function.
- Parameters
-
seed
Definition at line 106 of file random_sample.h.
References pcl::RandomSample< PointT >::seed_.
unifRand()
template<typename PointT >
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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 136 of file random_sample.h.
Member Data Documentation
sample_
template<typename PointT >
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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 >
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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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_random_sample.html