Random Sampling

Randomly samples a subset of points from the input point cloud. More...

Functions
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
	Performs random sampling on a point cloud of type pcl::PointXYZ.
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, int samples)
	Performs random sampling on a point cloud of type pcl::PointNormal.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int samples)
	Performs random sampling on a point cloud of type pcl::PointXYZRGB.
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, int samples)
	Performs random sampling on a point cloud of type pcl::PointXYZRGBNormal.
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int samples)
	Performs random sampling on a point cloud of type pcl::PointXYZI.
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT	rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, int samples)
	Performs random sampling on a point cloud of type pcl::PointXYZINormal.

Detailed Description

Randomly samples a subset of points from the input point cloud.

This function uses the PCL (Point Cloud Library) RandomSample filter to randomly select a specified number of points from the input cloud. It ensures the number of samples is greater than zero and returns a new point cloud containing the sampled points.

Parameters

cloud	A pointer to the input point cloud from which to sample points.
samples	The number of points to randomly sample from the input cloud. Must be > 0.

Returns

A pointer to a new point cloud containing the randomly sampled points.

Exceptions

Assertion

failure if samples <= 0.