Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::RandomSample< PointT > Class Template Reference

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

#include <pcl/filters/random_sample.h>

+ Inheritance diagram for pcl::RandomSample< PointT >:

Public Types

typedef boost::shared_ptr
< RandomSample< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const RandomSample< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::FilterIndices< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr
< FilterIndices< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const FilterIndices< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
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...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 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...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 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 PointToperator[] (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...
 
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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...
 
- Protected Attributes inherited from pcl::FilterIndices< PointT >
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...
 
- Protected Attributes inherited from pcl::Filter< PointT >
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...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
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...
 

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

Author
Justin Rosen

Definition at line 56 of file random_sample.h.

Member Typedef Documentation

template<typename PointT>
typedef boost::shared_ptr< const RandomSample<PointT> > pcl::RandomSample< PointT >::ConstPtr

Definition at line 75 of file random_sample.h.

template<typename PointT>
typedef boost::shared_ptr< RandomSample<PointT> > pcl::RandomSample< PointT >::Ptr

Definition at line 74 of file random_sample.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::RandomSample< PointT >::RandomSample ( bool  extract_removed_indices = false)
inline

Empty constructor.

Definition at line 78 of file random_sample.h.

Member Function Documentation

template<typename PointT >
void pcl::RandomSample< PointT >::applyFilter ( PointCloud output)
protectedvirtual

Sample of point indices into a separate PointCloud.

Parameters
outputthe resultant point cloud

Implements pcl::FilterIndices< PointT >.

Definition at line 48 of file random_sample.hpp.

References pcl::copyPointCloud(), pcl::getFields(), and pcl::PointCloud< T >::is_dense.

template<typename PointT >
void pcl::RandomSample< PointT >::applyFilter ( std::vector< int > &  indices)
protectedvirtual

Sample of point indices.

Parameters
indicesthe resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 93 of file random_sample.hpp.

template<typename PointT>
unsigned int pcl::RandomSample< PointT >::getSample ( )
inline

Get the value of the internal sample parameter.

Definition at line 98 of file random_sample.h.

template<typename PointT>
unsigned int pcl::RandomSample< PointT >::getSeed ( )
inline

Get the value of the internal seed parameter.

Definition at line 115 of file random_sample.h.

template<typename PointT>
void pcl::RandomSample< PointT >::setSample ( unsigned int  sample)
inline

Set number of indices to be sampled.

Parameters
sample

Definition at line 90 of file random_sample.h.

template<typename PointT>
void pcl::RandomSample< PointT >::setSeed ( unsigned int  seed)
inline

Set seed of random function.

Parameters
seed

Definition at line 107 of file random_sample.h.

template<typename PointT>
float pcl::RandomSample< PointT >::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 143 of file random_sample.h.

Member Data Documentation

template<typename PointT>
unsigned int pcl::RandomSample< PointT >::sample_
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(), and pcl::RandomSample< pcl::pcl::PCLPointCloud2 >::setSample().

template<typename PointT>
unsigned int pcl::RandomSample< PointT >::seed_
protected

The documentation for this class was generated from the following files: