Point Cloud Library (PCL)
1.8.1
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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< pcl::PCLPointCloud2 > > | Ptr |
typedef boost::shared_ptr< const RandomSample< pcl::PCLPointCloud2 > > | ConstPtr |
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typedef pcl::PCLPointCloud2 | PCLPointCloud2 |
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typedef boost::shared_ptr< Filter< pcl::PCLPointCloud2 > > | Ptr |
typedef boost::shared_ptr< const Filter< pcl::PCLPointCloud2 > > | ConstPtr |
typedef pcl::PCLPointCloud2 | PCLPointCloud2 |
typedef PCLPointCloud2::Ptr | PCLPointCloud2Ptr |
typedef PCLPointCloud2::ConstPtr | PCLPointCloud2ConstPtr |
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typedef pcl::PCLPointCloud2 | PCLPointCloud2 |
typedef boost::shared_ptr< PCLPointCloud2 > | PCLPointCloud2Ptr |
typedef boost::shared_ptr< PCLPointCloud2 const > | PCLPointCloud2ConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
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... | |
virtual | ~FilterIndices () |
Empty virtual destructor. More... | |
virtual void | filter (PCLPointCloud2 &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 (PCLPointCloud2 &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
virtual | ~PCLBase () |
destructor. More... | |
void | setInputCloud (const PCLPointCloud2ConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PCLPointCloud2ConstPtr const | getInputCloud () |
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 () |
Get a pointer to the vector of indices used. More... | |
Protected Member Functions | |
void | applyFilter (PCLPointCloud2 &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 () |
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 = 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... | |
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< int > | field_sizes_ |
The size of each individual field. More... | |
int | x_idx_ |
The x-y-z fields indices. More... | |
int | y_idx_ |
int | 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 155 of file random_sample.h.
typedef boost::shared_ptr<const RandomSample<pcl::PCLPointCloud2> > pcl::RandomSample< pcl::PCLPointCloud2 >::ConstPtr |
Definition at line 167 of file random_sample.h.
typedef boost::shared_ptr<RandomSample<pcl::PCLPointCloud2> > pcl::RandomSample< pcl::PCLPointCloud2 >::Ptr |
Definition at line 166 of file random_sample.h.
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inline |
Empty constructor.
Definition at line 170 of file random_sample.h.
References pcl::Filter< PointT >::filter_name_.
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protectedvirtual |
Sample of point indices into a separate PointCloud.
output | the resultant point cloud |
Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.
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protectedvirtual |
Sample of point indices.
indices | the resultant point cloud indices |
Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.
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inline |
Get the value of the internal sample parameter.
Definition at line 187 of file random_sample.h.
References pcl::RandomSample< PointT >::sample_.
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inline |
Get the value of the internal seed parameter.
Definition at line 204 of file random_sample.h.
References pcl::RandomSample< PointT >::seed_.
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inline |
Set number of indices to be sampled.
sample |
Definition at line 179 of file random_sample.h.
References pcl::RandomSample< PointT >::sample_.
Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud_and_genLOD(), and pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample().
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inline |
Set seed of random function.
seed |
Definition at line 196 of file random_sample.h.
References pcl::RandomSample< PointT >::seed_.
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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 232 of file random_sample.h.
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protected |
Number of indices that will be returned.
Definition at line 212 of file random_sample.h.
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protected |
Random number seed.
Definition at line 214 of file random_sample.h.