Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::RandomSample< pcl::PCLPointCloud2 > Class Template Reference

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

#include <pcl/filters/random_sample.h>

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

Public Types

typedef boost::shared_ptr< RandomSample< pcl::PCLPointCloud2 > > Ptr
 
typedef boost::shared_ptr< const RandomSample< pcl::PCLPointCloud2 > > ConstPtr
 
- Public Types inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
- Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
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
 
- Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
typedef boost::shared_ptr< PCLPointCloud2PCLPointCloud2Ptr
 
typedef boost::shared_ptr< PCLPointCloud2 const > PCLPointCloud2ConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
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...
 
- Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
 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 () const
 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 () 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...
 
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< pcl::PCLPointCloud2 >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
virtual ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices () const
 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...
 
- Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
 PCLBase ()
 Empty constructor. More...
 
virtual ~PCLBase ()
 destructor. More...
 
void setInputCloud (const PCLPointCloud2ConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PCLPointCloud2ConstPtr const getInputCloud () const
 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 () const
 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...
 
- Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool initCompute ()
 
bool deinitCompute ()
 

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< pcl::PCLPointCloud2 >
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< pcl::PCLPointCloud2 >
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...
 
- Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
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_
 

Detailed Description

template<>
class pcl::RandomSample< pcl::PCLPointCloud2 >

RandomSample applies a random sampling with uniform probability.

Author
Justin Rosen

Definition at line 154 of file random_sample.h.

Member Typedef Documentation

Definition at line 166 of file random_sample.h.

Definition at line 165 of file random_sample.h.

Constructor & Destructor Documentation

Empty constructor.

Definition at line 169 of file random_sample.h.

References pcl::Filter< PointT >::filter_name_.

Member Function Documentation

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

Sample of point indices into a separate PointCloud.

Parameters
outputthe resultant point cloud

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

void pcl::RandomSample< pcl::PCLPointCloud2 >::applyFilter ( std::vector< int > &  indices)
protectedvirtual

Sample of point indices.

Parameters
indicesthe resultant point cloud indices

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

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

Get the value of the internal sample parameter.

Definition at line 186 of file random_sample.h.

References pcl::RandomSample< PointT >::sample_.

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

Get the value of the internal seed parameter.

Definition at line 203 of file random_sample.h.

References pcl::RandomSample< PointT >::seed_.

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

Set seed of random function.

Parameters
seed

Definition at line 195 of file random_sample.h.

References pcl::RandomSample< PointT >::seed_.

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 231 of file random_sample.h.

Member Data Documentation

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

Number of indices that will be returned.

Definition at line 211 of file random_sample.h.

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

Random number seed.

Definition at line 213 of file random_sample.h.


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