pcl::RandomSample< PointT > Class Template Reference
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RandomSample applies a random sampling with uniform probability. More...

#include <pcl/filters/random_sample.h>

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List of all members.

Public Types

typedef boost::shared_ptr
< RandomSample< PointT > > 		Ptr
typedef boost::shared_ptr
< const RandomSample< PointT > > 		ConstPtr

Public Member Functions

 RandomSample (bool extract_removed_indices=false)
 Empty constructor.
void setSample (unsigned int sample)
 Set number of indices to be sampled.
unsigned int getSample ()
 Get the value of the internal sample parameter.
void setSeed (unsigned int seed)
 Set seed of random function.
unsigned int getSeed ()
 Get the value of the internal seed parameter.

Protected Member Functions

void applyFilter (PointCloud &output)
 Sample of point indices into a separate PointCloud.
void applyFilter (std::vector< int > &indices)
 Sample of point indices.
float unifRand ()
 Return a random number fast using a LCG (Linear Congruential Generator) algorithm.

Protected Attributes

unsigned int sample_
 Number of indices that will be returned.
unsigned int seed_
 Random number seed.

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

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 75 of file random_sample.h.

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

Reimplemented from pcl::FilterIndices< PointT >.

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.

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

Member Function Documentation

template<typename PointT >
void pcl::RandomSample< PointT >::applyFilter ( std::vector< int > &  indices  )  [inline, protected, virtual]

Sample of point indices.

Parameters:
indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 93 of file random_sample.hpp.

References pcl::Filter< PointT >::extract_removed_indices_, pcl::PCLBase< PointT >::indices_, pcl::FilterIndices< PointT >::negative_, pcl::Filter< PointT >::removed_indices_, pcl::RandomSample< PointT >::sample_, pcl::RandomSample< PointT >::seed_, and pcl::RandomSample< PointT >::unifRand().

template<typename PointT >
void pcl::RandomSample< PointT >::applyFilter ( PointCloud &  output  )  [inline, protected, virtual]

Sample of point indices into a separate PointCloud.

Parameters:
output the resultant point cloud

Implements pcl::Filter< PointT >.

Definition at line 48 of file random_sample.hpp.

References pcl::copyPointCloud(), pcl::Filter< PointT >::extract_removed_indices_, pcl::getFields(), pcl::PCLBase< PointT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::FilterIndices< PointT >::keep_organized_, pcl::Filter< PointT >::removed_indices_, and pcl::FilterIndices< PointT >::user_filter_value_.

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.

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

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.

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

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.

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

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.

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

template<typename PointT >
float pcl::RandomSample< PointT >::unifRand (  )  [inline, protected]

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.

Referenced by pcl::RandomSample< PointT >::applyFilter().

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< PointT >::applyFilter(), pcl::RandomSample< PointT >::getSample(), and pcl::RandomSample< PointT >::setSample().

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

Random number seed.

Definition at line 125 of file random_sample.h.

Referenced by pcl::RandomSample< PointT >::applyFilter(), pcl::RandomSample< PointT >::getSeed(), and pcl::RandomSample< PointT >::setSeed().

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